：运用动力学原理建立了小车-倒摆的仿真模型, 并以对象输入输出的测试数据为依据，讨

论了Takagi-Sugeno 模糊模型的参数辨识，提出了模糊逆模型控制方案，基于此借助Matlab 的

Simulink 设计了小车-倒摆的动态模型及其模糊自适应控制系统。仿真结果证明了本文采用的控制

策略的有效性。-: The use of dynamic theory to establish a car- inverted pendulum simulation model and the object input and output test data as the basis to discuss the Takagi-Sugeno fuzzy model parameter identification, the fuzzy inverse model control scheme, based on the use of Matlab Simulink design of the car- inverted pendulum dynamic model and the fuzzy adaptive control system. Simulation results show this paper, the effectiveness of the control strategy.