| Summary: | 碩士 === 聖約翰科技大學 === 自動化及機電整合研究所 === 102 === Inverted pendulum system is a nonlinear system is unstable, the stability control many abstract concepts such as control systems, controllability, the convergence speed and system noise immunity and so can come out through the inverted pendulum system intuitive performance, So a lot of variety to be used to verify the theory of linear and nonlinear control systems.This paper proposes the use of fuzzy control theory is applied to single-axis inverted pendulum balance control system, the traditional two-input single-output fuzzy control system must be judged through fuzzy inference two fuzzy input variables obtained after the operation amount of the actual system, generally two input variables are set to error and error variation, then the feedback control systems typically utilize differential manner to make a first-order differential error value for error variation, this process prone to problems algebraic loops, so that the control system in the calculation process, the system cannot draw the correct values, thereby affecting the performance of the entire control of fuzzy control system.This paper presents improved fuzzy control system to replace the use of differential signal delay traditional way of fuzzy control system used by successful problem solving algebraic loops, experiments show that our proposed delay signal fuzzy control system can effectively maintain the single-axis inverted pendulum system stable equilibrium.
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