拟人控制二维单倒立摆

以二维单极倒立摆为被控对象，利用拟人控制的思想形成非线性控制律，并确定出反馈系数间的相对关系。通过在线调试实现定性控制律的量化，从而成功地控制了二维单级倒立摆的稳定。与传统的控制系统设计相比，不依赖于数学模型，不受线性约束；与模糊控制相比，不需要人类直接被控对象的经验。拟人控制方法设计简单易行，且得到的控制系统具有较强的鲁棒性。

Human-imitating control for 2-D inverted pendulum

Taking a 2-D inverted pendulum as an object to be controlled, a nonlinear qualitative control law is formed and relations among feedback gains are defined according to human-imitating control. The qualitative control law is then quantified through on-line adjustment. The 2-D inverted pendulum is stabilized vertically showing very strong robustness. Compare with traditional design, human-imitating control does not depends on mathematical model and is not restricted to linear assumption. Compare with fuzzy control system design, it does not require human direct experience of controlling an object to be controlled as well. Moreover, human-imitating design is simple and easy, and systems obtained in such way are very robust.