基于部分反馈线性化与LQR方法结合的控制策略摇起时间短，控制器之间过渡平稳，但它有成功率不高、参数难调的缺点。

To solve the problems in pendubot strategy based on partial feedback linearization and LQR, another control strategy based on fuzzy control and LQR is proposed.

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然后，针对输入—输出反馈线性化得到的数学模型中的非线性项，本文利用神经网络来对该部分进行逼近。

Then a neural network is employed to approximate the non-linear component of the input-output linearized system.

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然后，针对输入—输出反馈线性化得到的数学模型中的非线性项，本文利用神经网络来对该部分进行逼近。

Then a neural network is employed to approximate the non-linear component of the input-output linearized system.

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