的控制器应用到第2章的二级倒立摆模型上，进行了仿真实验。接着应用所设计的控制器对二级倒立摆系统进行了实际控制。模拟仿真跟实物控制两者都证明，本文中我们所设计的模糊PID控制器性能优越，稳定程度较高。与常规的PID控制器相比，避免了手动调节参数过程的繁琐以及在环境变化时参数不能及时变化以满足系统要求的弊端。由此我们可以得出结论：本文所设计的控制方法要优于单独的模糊控制、PID控制，它是一种非常有效的控制方法，在保证系统稳定的前提下，实现了系统的快速、无差控制。

【英文摘要】Double inverted pendulum is an instability system which has many variable, strong coupling and nonlinear. The double inverted pendulum can effectively reflect many questions, such as robustness, stabilizability and tracking performance etc. There are many instability and nonlinear systems in this area, at the same time, inverted pendulum can tested such systems, which is used in a control area and

scholars frequently. The control methods of inverted pendulum were also widely used in military, robotics and other areas.In chapter2, we describe the research development status of

inverted pendulum control system, and expatiate the control results in the different developing periods. Because the object is to design the fuzzy PID controller, we first do the