Perceptual Control Theory (PCT) theorizes that a creature's behaviour is varied so that their perception can reach and maintain certain fixed limits, despite external disturbances. The distinguishing characteristic of PCT is that the controlled variables are the inputs (perceptions, as opposed to the system outputs). This paper presents the first direct comparison of a PCT controller for a mobile robot (a two-wheeled 'inverted pendulum' balancing robot) with a classical control method, LQR. Simulations and experimental validation results show that the performance of the PCT controller is comparable to the LQR controller and better at disturbance rejection.

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