Abstract
The inverted pendulum is a system that has the state of the multi parameters. The inverted pendulum is a SIMO(Single-Input Multiple-Output) system. In the SIMO system, it is difficult to construct by conventional controller which considering multi parameters at the same time. On the other hand, it is easy to construct by conventional controller that considering one parameter. Moreover, human can judge the state operated by priority each situation of the inverted pendulum. In this study, we propose intelligent hierarchical controller. This intelligent hierarchical controller consists of two parts. One is the controller group which has controllers of each parameter. Another is the judgment part where human knowledge was built in. The proposed controller is applied to swing-up and stabilizing control of the inverted pendulum. The effectiveness of the proposed controller was confirmed experimentally.
