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Inverted pendulum is a kind of complex, unstable and multivariable nonlinear system. In order to improve the control performance of the linear inverted pendulum, a novel self-adaptive fuzzy PID digital control method with double-close loop is presented. The double loops are closed by two digital PID controllers, and the PID parameters can be modified in real-time by the fuzzy inference system in order to optimize the PID controller. The control method can guarantee the vertical of the pendulum bar and drive the car to the desired position. The simulation results show this control method has better effectiveness and better robustness.