To handle the nonlinear, strong-coupling, multivariable and self unstable characters of under-actuated structures, variable-length one-step predictive control based on expert system is proposed in this paper, and is further applied to stabilization control of double inverted pendulum systems and triple inverted pendulum systems. The main works in this paper are as below: 1 Based on a summary of those methods used in stabilization control of inverted pendulum systems and predictive control, a new class of performance index for the under-actuated structures such as inverted pendulum systems is defined. After analyzing the effects of such performance index in the process of controlling the under-actuated structures, we propose the variable-length one-step predictive control based on expert system. 2 The proposed method is applied to double inverted pendulum systems. Stabilization con{roller for double inverted pendulum systems is first designed, and swing-up and stabilization controller is further given. The results of control simulations show the validity of the method. 3 The proposed method is further applied to triple inverted pendulum systems, and stabilization controller for triple inverted pendulum systems is built. The results of control simulations demonstrate the validity of the method.
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