Stabilization Control of Double Inverted Pendulum System

The work deal with the stabilization control of double inverted pendulum system. Inverted pendulum system is a complicated, nonlinear, unstable system of high order. Fuzzy control research for stabilization a double inverted pendulum at an upright position successfully is proposed based on weight variable fuzzy inputs. The weight variable fuzzy inputs is gained by combining the fuzzy control theory with the optimal control theory. The fuzzy control rules of a double inverted pendulum are given. In order to consider cart, the lower pendulum, the upper pendulum error information, three different fuzzy controller were designed in this paper. Simulation results show that the controller, which the upper pendulum is considered as main control variable, has higher accuracy and quicker convergence speed and higher precision, and simulation result is promising. The control result can be expanded the control of multilevel inverted pendulum, and have a guiding meaning in the control of other unstable system.