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采用变论域自适应模糊控制理论研究四级倒立摆控制问题.首先,给出四级倒立摆运动的数学模型并验证了它的可控性;然后根据变论域自适应模糊控制理论设计了关于四级倒立摆的控制器.最后展示了仿真结果.此外,还给出一级、二级和三级倒立摆的硬件（即实物系统）实验结果.
The problem of four-stage inverted pendulum control is studied by using the theory of variable universe adaptive fuzzy control.Firstly, the mathematical model of the four-stage inverted pendulum is given and its controllability is verified.According to the adaptive fuzzy control theory of variable universe, The controller for the quadruple inverted pendulum shows the simulation results Finally, the hardware (ie physical system) experimental results of the first, second and third inverted pendulums are also given.