【正文】 衡位置。檢查錄象提供的畫面來觀察倒立擺是如何確切 地 工作的。The inverted pendulum Key words: inverted pendulum, modeling, PID controllers, Fuzzy controllers, state space controllers What is an Inverted Pendulum? Remember when you were a child and you tried to balance a broomstick or baseball bat on your index finger or the palm of your hand? You had to constantly adjust the position of your hand to keep the object upright. An Inverted Pendulum does basically the same thing. However, it is limited in that it only moves in one dimension, while your hand could move up, down, sideways, etc. Check out the video provided to see exactly how the Inverted Pendulum works. 倒立擺是什么 ？ 還記得當你是個孩子時你曾用你的食指或者掌心設法去平衡一把掃帚柄或者棒球棍嗎？你必須不斷地調整你 的手的位置以保持對象的垂直。 An inverted pendulum is a physical device consisting in a cylindrical bar (usually of aluminum) free to oscillate around a fixed pivot. The pivot is mounted on a carriage, which in its turn can move on a horizontal direction. The carriage is driven by a motor, which can exert on it a variable force. The bar would naturally tend to fall down from the top vertical position, which is a position of unsteady equilibrium. 一個倒立擺是個物理設備它包括一個圓柱體的棒子（通常是鋁的）可以在一個支點周圍振蕩。 The goal of the experiment is to stabilize the pendulum (bar) on the top vertical position. This is possible by exerting on the carriage through the motor a force which tends to contrast the 39。這個正確的力必須通過計算測量水平偏轉的瞬時值和擺的 角度（獲得兩個電位計）。如果不是所有的參數(shù)都已知，可以用多種方法去 “ 推想 ” 系統(tǒng)參數(shù)像用擺的動力學的測量數(shù)據(jù)。倒立擺在求數(shù)值和各種控制理論的比較中是必要的。事實上運算法則是通過數(shù)值點實現(xiàn)的該數(shù)值點看作一組互助的協(xié)同操作的任務，它是周期性的通過核心的活動，它執(zhí)行不同的計算。 Modeling an inverted the inverted pendulum system is modeled as a linear system, and hence the modeling is valid only for small oscillations of the pendulum. 為倒立擺建模 。模型不是一 個準確的實體表現(xiàn)，模型的誤差是不可避免的?；？刂破?(SMC)是基于變結構控制使用的如果模型結構中的錯誤在已知的范圍內躍進。這是一個眾所周知的難題并且廣泛的在文獻中經過處理。 In this paper we suggest an approach to the design of decentralized motion controllers for electromechanical systems besides the sliding mode motion controller structure and disturbance torque estimation. The accuracy of the estimation is the critical parameter for robustness in this scheme, as opposed to the upper bounds of the perturbations themselves. Consequently, the driving terms of the error dynamics are reduced from the uncertainties (as in the conventional SMC) to the accuracy in their estimates. The result is a much better tracking accuracy without being over conservative in control. 在這篇論文中我們提出一個機電系統(tǒng)中分散震動控制器的設計方法除了滑模震動控制器結構和干擾轉矩的估算。 Experimental robustness properties of fuzzy controllers remain theoretically difficult to prove and their synthesis is still an open problem. The nonlinear structure of the final controller is derived from all controllers at the different stages of fuzzy control, particularly from mon defuzzification methods (such as Centre of Area). In general, fuzzy controllers have a regionwise structure given the partition of its input space by the fuzzification stage. Local controls designed in these regions are then bined into sets to make up the final global control. A partition of the state space can be found for which the controller has regionwise constant parameters. Moreover, each fuzzy controller tuning parameter (. the shapes and the values of input or output variables membership functions) influences the values of parameters in several regions at the same time. In the particular case of a switching line separating the phase plane into one reg