Research On The Inverted Pendulum System Based On Fuzzy Control

Inverted pendulum system, because of its simple structure, parameters easyto adjust, low-cost advantages, and thus becomes a typical experimental setup totest the control algorithm. The inverted pendulum system is a higher order,multi-variable, unstable, nonlinear, strong coupling natural dynamic system.Therefore it is effective to reflect the robustness of the system, non-linearproblems etc many of the key issues exist in the control process, through theprocess of control of the inverted pendulum system. Because inverted pendulumsystem has a great deal of similarity with the robot standing, walking, attitudeadjustment in the process of rocket launchers, thus control experts around theworld give extreme attention to the control problem of inverted pendulum system,the course of the study has extremely important theoretical value and practicalsignificance of the guiding.For this research topic of fuzzy control of inverted pendulum system in thispaper, the main contents are as follows:Firstly, this paper modeling the linear inverted single pendulum system andthe double inverted pendulum system produced by shenzhen googol technology,and also derive equation of state space. And then analyze the stability,controllability and observability of the single and double inverted pendulumsystem．Secondly, when design the fuzzy controller of single inverted pendulumsystem, this paper proposed two fuzzy controllers in series to achieve fuzzycontrol. With position fuzzy controller to control the car’s location, the sum of itsoutput as a virtual point of view and the practical point of view of pendulum is tobe used an input angle of the fuzzy controller to control the pendulum’s swingangle. With this series controller adopted, it is effective to control the displacement and angle of the car, further get stability control of single invertedpendulum system.Thirdly, when design the fuzzy control algorithm of double invertedpendulum system, this paper proposed fusion function, based on informationfusion technology to reduce the input variable dimensionality, thus achievingstability control of the double inverted pendulum system, and even effectivelysimplify the design of fuzzy controller, thus solve the fuzzy rule explosionproblem.Finally, simulation study is made respectively to verify the validity of thealgorithm through simulation in matlab/simulink environment on the single anddouble inverted pendulum by fuzzy control. Through real-time control on singleand double inverted pendulum system, prove that the controlled system has goodstability, fast and anti-jamming.