说明：  设计单级倒立摆的品级模糊控制器。运用串级模糊控制器控制单级倒立摆，内环模糊控制器控制角度，外环模糊控制器控制位移，运用种群遗传算法优化两个模糊控制器的参数。
(Grade of single-stage inverted pendulum fuzzy controller is designed.Cascade fuzzy controller is used to control a single inverted pendulum, the inner ring control Angle of the fuzzy controller, the outer ring control displacement of the fuzzy controller, the use of two population genetic algorithm to optimize fuzzy controller parameters.)