Three Parallel Coupled Inverted Pendulum Control Law Research

Parallel triple inverted-pendulum system is a high-order nonlinear large-scale interrelated System. It's construct is complex and there are many parameters in it. Furthermore there always exits parameters perturbation and changes of coupled action. So it is much more difficult to model the system accurately. It often causes a lot of inconvenience when contriving a scheme to stable the system.In this pager the problems above are analyzed and studied extensively and deeply. Modern control theory, variable structure control theory and fuzzy logic control theory are applied to contrive two schemes to control Parallel triple inverted-pendulum system. Firstly, the whole system's construct is introduced and then it's approximate linear TIV model is educed and analyzed elementarily . Secondly, I use variable structure control theory to design a control system successfully. Thirdly , fuzzy logic control theory is applied to contriving the other scheme of fuzzy control. I develop a program for the procedure of the contriving. Lastly , experiments are carried out to test the schemes. It is glad that the results of the experiments are very good.