针对倒立摆系统的非线性、不稳定的控制问题,推导了二级倒立摆系统的数学模型和状态空间表达式,对倒立摆系统在平衡点附近进行了可控性分析,提出了一种基于模糊控制器进行控制的方法,建立了相应的控制规则。实验结果表明,该系统具有鲁棒性、稳定性好的特点。 Aiming at the nonlinear and unstable control problem of inverted pendulum system, the mathematical model and state space expression of inverted pendulum system are deduced. The controllability analysis of the inverted pendulum system near the equilibrium point is presented. Fuzzy controller to control the method to establish the corresponding control rules. Experimental results show that the system has the characteristics of robustness and good stability.