Motion mode control in double inverted pendulum system

This paper presents a motion mode control method for double inverted pendulum system which is based on fuzzy logic and neural network. Inverted pendulum is well known as a testing bed for various controller. However, it is very difficult to design and realize a single stage fuzzy controller for the inverted pendulum system because of system multivariable. After the description of the double inverted pendulum system, a fuzzy neural controller is presented which is based on the proposed fuzzy composed variable and the parameters are optimized by back propagation algorithm in neural network. Then motion modes of the system are defined and adjusted online. Experimental implementation and testing prove its validity