Analysis and Design of a Double Inverted Pendulum Based on the Dynamic Fuzzy Model
基于模糊动态模型的二级倒立摆系统的分析和设计

Firstly, a method of fuzzy dynamic model identification for discretetime system is proposed. A function for measuring clustering validity is defined with which the number of fuzzy rules can be determined. A sufficient criterion that guarantees the global stability of the fuzzy system is presented. Based on this, we develop a design way of the fuzzy control system. This method is proved to have better effect through a double inverted pendulum by experiments.