本文针对一种新型的倒立摆系统，设计了一个四输入单输出三层BP网络，并对一级旋转倒立摆控制器进行逼近。

In this paper a new arm-driven inverted pendulum is presented, and a 4-input 1-output 3-layer BP neural network is designed to approach the first-level arm-driven inverted pendulum controller.

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本文针对垂直型单支点旋转式倒立摆系统进行研究。

In this paper, the construction and control of vertically-rotary inverted pendulum with single point were studied and designed.

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针对步进电机驱动的单支点垂直型旋转式倒立摆系统的复杂特性，采用了模糊控制的方法。

In this paper, fuzzy control is used to control a vertical rotary invert-pendulum with single fulcrum due to its complex characteristics.

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