Study of double closed-loop fuzzy control base on parallel-type inverted pendulum

The main purpose of this paper is to demonstrate a double closed-loop fuzzy control approach base on Bang-Bang control for the parallel-type inverted pendulum system with multi-variable and nonlinear characteristic. In this approach, firstly, judge the initial state of system and according to the judgment switch the state to make control system enter a controlled state. Then, the position of the small car and the angle of the double swing pendulum are controlled by the double closed-loop fuzzy control. The digital simulation results are in line with the theory analysis and it can be seen that this method is feasible. Thus it should be of interest to control theory.