关键词： 倒立摆, 随机干扰, 次优滤波, 模糊控制

Abstract: The balance control of inverted pendulum adopts fuzzy control arithmetic.There exists dithering phenomenon and system output exists biggish overshoot when the system is disturbed by stochastic disturbance.To realize system exact control,get actual states of controlled device,eliminate the dithering influence caused by dynamic noise and measure noise,enhance smoothness of response,this paper designs a sub-optimal filter,which has less numeration and much better real-time response better than kalman,and thus realizes the fast and steady control of inverted pendulum.

Key words: inverted pendulum, stochastic disturbance, sub-optimal filter, fuzzy control