Adaptive Human-Simulated Intelligent Controller and its application in double inverted pendulum

To expand the initial angle condition in stabilizing the double inverted pendulum, the adaptive Human-Simulated Intelligent Controller is proposed. Based on it, the phase plane is divided into tow blocks according to requirement of control performance. Within the zero block the integration action works; Outside the zero block the adaptive fuzzy PD works. This control structure, called after adaptive Human-Simulated Intelligent Controller, provides the strong nonlinearity performance to satisfy the control requirement. The simulation results show this method expands the initial angle conditions 1.5 times that of the classical LQR controller and obtains the better stabilization performance.