Hardware implementation of the quadruple inverted pendulum with single motor

摘要

Inverted pendulums ate always used to verify some qualities and effect of certain control theory or method Single or double inverted pendulum control system has been extensively studied for education and research purposes. However how to control a triple inverted pendulum is a difficult problem, which just a couple of control experts can solve including us. Undoubtedly, to implement controlling of a quadruple inverted pendulum is a very difficult problem, but we first successfully accomplished it using variable universe adaptive fuzzy control method in August, 2002. In this paper, a controller for a quadruple inverted pendulum is demonstrated using the variable u-niverse adaptive fuzzy control theory.