中文摘要：

本文对平面二级倒立摆运用分析动力学方法建立其数学模型,以LQR理论设计了平面倒立摆的最优控制器,在此基础上运用变量融合技术设计了参数自调整双模糊控制器,从而降低模糊控制器的输入变量维数,大大减少模糊控制的规则数,并研究了量化因子对控制效果的影响.应用所设计两种控制器进行系统仿真与实时控制实验,其结果证明两种控制器都能保证良好的控制精度,响应速度快,有良好的稳定性和鲁棒性。

英文摘要：

The mathematical model of planar double inverted pendulum is founded at first by means of analytical dynamics.Then,LQR theory is employed to realize optimal control,and further fusion of correlated varieties is added to simplify as well as humanize the controller in virtue of fuzzy technology.The infection of the quantification factors to the effect of control is studied.Finally,results of numerical simulation together with pilot scale test are given to verify the efficiecy of the suggested strategy.