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《Control and Decision》 2005-04
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Quintuple inverted pendulum control based on LQR and fuzzy piecewise interpolation

LUO Cheng, HU De-wen, ZHU Xiao-cai, DONG Guo-hua (College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China.  
The mathematical model on the quintuple inverted pendulum is presented, and its controllability is verified. Based on the LQR theory and the discussion of multiple factors related to the stability of the inverted pendulum, a non-diagonal weight matrix is constructed and a method to set the value of the matrix elements is proposed. An efficient fuzzy controller based on 2-ary piecewise interpolation function is designed, and the simulation of the quintuple inverted pendulum is described in detail. The results of the simulation show the validation of the proposed method.
【Fund】: 国家自然科学基金重点项目(60234030);; 国家杰出青年科学基金项目(60225015);; 高等学校优秀青年教师教学科研奖励计划项目.
【CateGory Index】: TP13
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