LQR-Fuzzy Control for Double Inverted Pendulum

According to the Lagrange equation, the mathematical model for the double inverted pendulum is first presented. For the fuzzy controller, the dimension of input varieties of fuzzy controller is depressed by designing a fusion function using optimization control theory, and it can reduce the rules of fuzzy sharply, `rule explosion' problem is solved. The result shows that the LQR-Fuzzy logic controller not only has quite good stability, but also be able to make the cart of the pendulum moving to the designed in advance place along the orbit.