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《CONTROL AND DECISION》 1996-01
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Fuzzy Cascade Control of an Inverted Pendulum

Zhang Naiyao; C. Ebert; R. Belschner; H. Strahl(Tsinghua University) (Stuttgart University, Germany)  
In this paper a fuzzy cascade control scheme for inverted pendulum is presented. The inner fuzzy controller regulates the angle of pendulum, while the outer fuzzy controller is for positioning the cart. Using this scheme the design of fuzzy controllers is much easier, and the executing time is much shorter. The experiment results on a real apparatus have shown that the scheme is effective.
【Fund】: 清华大学科学基金
【CateGory Index】: O314
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