Robust Controller Design for Two Wheeled Inverted Pendulum System

Authors

  • Hazem I. Ali Control & Systems Engineering Department University of Technology, Baghdad-Iraq
  • Zain AlAbdeen M. Shareef Control & Systems Engineering Department University of Technology, Baghdad-Iraq

Keywords:

Two wheeled inverted pendulum, H2 full state feedback control, H∞ controller, Robust control, Optimal control

Abstract

In this paper, the design of a robust controller for two wheeled inverted pendulum (TWIP) system is presented. In the first stage of the design, a full state feedback H2 control is designed for stabilizing the inclination of (TWIP) system to upright position. The H? controller for the stabilized system is synthesized in the second stage. The mathematical model of the system based on the Newtonian approach is developed. The results verify that the proposed controller can compensate the system parameter uncertainty with a more desirable time response specifications.

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Published

11-06-2017

How to Cite

Robust Controller Design for Two Wheeled Inverted Pendulum System. (2017). Al-Nahrain Journal for Engineering Sciences, 20(3), 562-569. https://nahje.com/index.php/main/article/view/245