直線倒單擺系統為一個非線性不穩定且同時具有非極小相之系統，因而被廣泛的用於驗證各種線性及非線性控制系統理論。本文之目的為斜面使用FPGA實現直線倒單擺之甩上及平衡定位PID及模糊控制器；其控制目標為先將斜面直線倒單擺由初始下垂位置逐漸甩上至垂直位置附近，然後隨即控制倒單擺保持平衡及滑台定位。經由電腦模擬及實驗結果可證明本文所設計的FPGA PID及模糊控制器可以成功地達到預期的控制目標。

Linear-inverted pendulum system is a nonlinear unstable system that has non-minimum phase characteristic and it has been widely used to demonstrate the effectiveness of linear/nonlinear control theorem. The purpose of this work is to design FPGA PID/Fuzzy controllers to swing up a sloped linear pendulum from the stationary hanging state to the upright position and followed by balancing and positioning it about the vertical position. Computer simulations and experimental results are performed to illustrate the feasibility and effectiveness of the proposed control methods.

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