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本文主要研究用参变量模糊控制对二级倒立摆进行实时控制的问题。提出了Ｆｕｚｚｙ控制多变量系统的一种分析方法，给出了综合误差、综合误差变化率的概念，并叙述了综合系数的设计方法。应用综合误差理论设计了带参变量的Ｆｕｚｚｙ控制器，且用３８６微机对二级倒立摆进行实时控制，取得了较好的效果。
In this paper, we mainly study the problem of real-time control of two-stage inverted pendulum with the variable-parameter fuzzy control. An analysis method of fuzzy control multivariable system is proposed. The concept of integrated error and integrated error rate of change is given. The design method of synthetic coefficient is also described. The fuzzy controller with parameters is designed by using the synthetic error theory. The 386 microcomputer is used to control the two-stage inverted pendulum in real time, and good results are achieved.