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中文摘要：
在这份报纸，可变宇宙适应模糊控制器基于可变获得 H 管理者(VGHR ) 被设计稳定一只四倍的转换摆钟。VGHR 是一条新奇柔韧的安排获得的途径。由利用 VGHR 技术，一个更精确的即时反馈获得矩阵，随着状态正在变化，被获得。经由可变获得矩阵，四倍的转换摆钟的 10 个州的变量在采样时间被转变成一种合成错误(E) 和错误(EC ) 的变化的合成率。因此， multivariable 系统的尺寸被减少并且可变宇宙适应模糊控制器被造。实验说明建议控制计划的有效性。
英文摘要：
In this paper, the variable universe adaptive fuzzy controller based on variable gain Ha regulator （VGH∞R） is designed to stabilize a quadruple inverted pendulum. The VGH∞R is a novel robust gain-scheduling approach. By utilizing VGH∞R technique, a more precise real-time feedback gain matrix, which is changing with states, is obtained, Via the variable gain matrix 10 state variables of quadruple inverted pendulum are transformed into a kind of synthesis error （E） and synthesis rate of change of error （EC） at sampling time. Therefore, the dimension of the multivariable system is reduced and the variable universe adaptive fuzzy controller is built. Experiments illustrate the effectiveness of the proposed control scheme.
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