Analysis And Design Of Fuzzy Control On Inverted Pendulun System

Inverted pendulum control system is a typical multivariable, complex nonlinear，strongcoupling and natural unstable system,and according to different classification criteria,itInverted pendulum control system can be divided into different categories.But eitherhave the inherent nature of inverted pendulum.The study of inverted pendulum help us tofurther learn and understanding of more control problems:such as nonlinear problems,robustness and stabilization of theissues.Moreover,as a typical control object, learninginverted pendulum also has far-reaching significance for us to detect further studies andnew theoretical research.At the same time,in the course of the study,continuing to findnew control method and explore new control theory will be a kind of challenging study.Traditional control methods have become more sophisticated,however,for the morecomplex nonlinear systems,the traditional control strategy has seemedhelpless.Intelligent control bases on control guidelines,so that it can solve manyproblems of nonlinear and complex control systems,in which fuzzy control has beenwidely accepted and applied.As a kind of intelligent control methods,fuzzy control hasthe advantage of avoiding to build complex models for nonlinear complex systems withgood control effect.This thesis is provided by Shenzhen-solid corporate for the study of circular-raildouble inverted pendulum, applying Lagrange precise mathematical to the model of thesystem, using the LQR (Linear Quadratic Regulation) linear quadratic regulator controlalgorithm and fuzzy control in the simulation of the double inverted pendulum system.In the process of applying fuzzy control, use the fusion technology to reduce thedimensions,in order to achieve the control objectives,then simulation under theenvironent of Matlab/simulink.Finally,compare the results of two control methods thensummarize and analyze the pros and cons of two different methods.