A Fuzzy Control Method Based on Information Integration for Double Inverted Pendulum

This article proposes a new fuzzy controller based on information integration. The mathematical model of linear double inverted pendulum has been studied and established with dynamics analytical method and LQR theory is used to design the optimal linear inverted pendulum controller, then, the integration technology is used to design the variable parameters self-tuning fuzzy controller. Thereby, the fuzzy controller input variable dimension and the number of fuzzy control rules have been extremely reduced. Two controllers are designed for inverted pendulum system control and the comparison simulation experiments have been done. The results show that the controllers can both realize good control, and the fuzzy controller has higher precision, faster response, better stability and robustness.