HARDWARE IMPLEMENTATION OF THE （硬件实现的）.pdf

HARDWARE IMPLEMENTATION OF THE QUADRUPLE INVERTED PENDULUM WITH SINGLE MOTOR Li Hongxing Wang Jiayin Gu Yundong Feng Yanbin (Department of Mathematics, Beijing Normal University, Beijing 100875, China) Abstract: As every one knows, inverted pendulums are always used to verify some qualities and effect of certain control theory or method. Single or double inverted pendulum control systems are widely used for teaching or researching in universities and some institutes. However how to control a triple inverted pendulum is a well-known difficult problem. Up to now, just a couple of control experts can do the control of a triple inverted pendulum by using some control method. Undoubtedly, to implement controlling of a quadruple inverted pendulum was an unsolved very difficult problem before August 11, 2002 when we first successfully controlled it by using variable universe adaptive fuzzy control method. We demonstrate here how to implement controlling of a quadruple inverted pendulum as well as briefly introducing variable universe adaptive fuzzy control theory. Keywords: Nonlinear systems Variable universe adaptive fuzzy control Contraction-expansion factor Symbolic factor Interpolation mechanism of fuzzy control Triple inverted pendulum Quadruple inverted pendulum 1 0 INTRODUCTION Inverted pendulum control systems came of the control of roll booster of rocket launching. In the 1950s, some control experts in MIT designed fist inverted pendulum control system with one rod based on the principle of the control of roll bo