基于matlab的倒立摆模糊控制_课程设计报告(编辑修改稿)

基于matlab的倒立摆模糊控制_课程设计报告(编辑修改稿)内容摘要：

(in4 is in4mf1) then (out is mf1) (1)  2. If (in1 is in1mf1) and (in2 is in2mf1) and (in3 is in3mf1) and (in4 is in4mf2) then (out is mf2) (1)  3. If (in1 is in1mf1) and (in2 is in2mf1) and (in3 is in3mf2) and (in4 is in4mf1) then (out is mf3) (1)  4. If (in1 is in1mf1) and (in2 is in2mf1) and (in3 is in3mf2) and (in4 is in4mf2) then (out is mf4) (1)  5. If (in1 is in1mf1) and (in2 is in2mf2) and (in3 is in3mf1) and (in4 is in4mf1) then (out is mf5) (1)  6. If (in1 is in1mf1) and (in2 is in2mf2) and (in3 is in3mf1) and (in4 is in4mf2) then (out is mf6) (1)  7. If (in1 is in1mf1) and (in2 is in2mf2) and (in3 is in3mf2) and (in4 is in4mf1) then (out is mf7) (1)  8. If (in1 is in1mf1) and (in2 is in2mf2) and (in3 is in3mf2) and 基于 MATLAB 的倒立摆模糊控制 caymi 第 12 页 共 24 页 (in4 is in4mf2) then (out is mf8) (1)  9. If (in1 is in1mf2) and (in2 is in2mf1) and (in3 is in3mf1) and (in4 is in4mf1) then (out is mf9) (1)  10. If (in1 is in1mf2) and (in2 is in2mf1) and (in3 is in3mf1) and (in4 is in4mf2) then (out is mf10) (1)  11. If (in1 is in1mf2) and (in2 is in2mf1) and (in3 is in3mf2) and (in4 is in4mf1) then (out is mf11) (1)  12. If (in1 is in1mf2) and (in2 is in2mf1) and (in3 is in3mf2) and (in4 is in4mf2) then (out is mf12) (1)  13. If (in1 is in1mf2) and (in2 is in2mf2) and (in3 is in3mf1) and (in4 is in4mf1) then (out is mf13) (1)  14. If (in1 is in1mf2) and (in2 is in2mf2) and (in3 is in3mf1) and (in4 is in4mf2) then (out is mf14) (1)  15. If (in1 is in1mf2) and (in2 is in2mf2) and (in3 is in3mf2) and (in4 is in4mf1) then (out is mf15) (1)  16. If (in1 is in1mf2) and (in2 is in2mf2) and (in3 is in3mf2) and (in4 is in4mf2) then (out is mf16) (1) 其中， in1mf1 和 in1mf2 表示角 θ 是 “大 ”和 “小 ”， in2mf1 和 in2mf2表示角速度是 “快 ”和 “慢 ”， in3mf1 和 in3mf2 表示 位移x的 “远 ”和“近 ”、 in4mf1 和 in4mf2 表示 速度x是 “快 ”和 “慢 ”。 在多输入多输出的模糊逻辑系统中，常可能会有很多规则，并且这些规则的前提部分和结论部分也可以由许多语句组成。 前面介绍的基于 MATLAB 的倒立摆模糊控制 caymi 第 13 页 共 24 页 IF． THEN 规则只是最简单的形式，是最基本的模糊系统单元。 对于复杂的模糊逻辑系统，如果满足 “输出一输入解耦的，各输入间、输出间分别是独立的 ”，就可以用连接词 “and”、 “or”和 “also”连接的一系列简单的模糊规则组成的模糊规则库来表示。 其中， “and”和 “or”用来连接同一规则的多个输入或多个输出， “also”用来连接多条不同的模糊规则。 模糊推理的规 则通常来。