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《Journal of Dalian Nationalities University》 2008-05
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The Real-time Control for a Single Planar Inverted Pendulum Based on Fuzzy Controllers

XU Guo-kai1,ZHAO Xiu-chun1,LIU Chang-hong1,LIU Jin-gang2(1.College of Electromechanical & Information Engineering,Dalian Nationalities University,Dalian Liaoning 116605,China; 2.College of Information Science & Engineering,Northeastern University,Shenyang Liaoning 110004,China)  
The mathematical model is established for a single planar inverted pendulum system.The stability,controllability and observability of the system are analyzed.A value fusion fuzzy control strategy and fuzzy PID control strategy are designed.The controller is applied into the system simulation and real-time controlling experiments,respectively.The results show that the designed fuzzy controller has perfect control precision and excellent anti-interterence ability especially.
【CateGory Index】: TP273.4
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