Abstract: For controlling the second order inverted pendulum，a controller based on universal logics is proposed.The core part of universal logics controller is zero-order universal combination operator in[a，b].The decision-making of universal logics controller takes the relations between the inputs，the measurement errors and the decision threshold into account.The stable and anti-jamming control experiments by universal logics controller for the second order physical inverted pendulum and the comparison with LQR and fuzzy logic controller show the validity and advantage of universal logics controller.

Key words: universal logics controller, universal combination operator model, second order inverted pendulum

摘要： 针对二级倒立摆的稳定控制问题，提出了一种以泛逻辑学为逻辑基础的控制器，控制器以任意区间[a，b]上的零级泛组合运算模型为核心决策部件，决策过程中考虑到输入变量之间的关系、输入量的测量误差，并允许决策门限连续可变。对二级倒立摆实物系统的泛逻辑稳定控制实验和抗干扰实验，以及同模糊控制方法和线性二次型最优状态调节器控制效果的比较证明了该方法的有效性和优越性。

关键词: 泛逻辑控制器, 泛组合运算模型, 二级倒立摆