Full State Feedback 𝐇𝟐 and H-infinity Controllers Design for a Two Wheeled Inverted Pendulum System

Abstract

In this work, two robust controllers, which are full state feedback, 2 and full state feedback ∞ controllers are proposed for the two wheeled inverted pendulum system. The nonlinear equations for the two wheeled inverted pendulum system are developed using Euler-Lagrange equation. The system parameters changes are considered to show the effectiveness of the proposed robust controllers. These controllers are proposed not only to stabilize the pendulum in upright position but also to drive the position to track a given reference input. The results show that more desirable robustness and time response specifications can be achieved using the proposed controllers. The effectiveness of the proposed controllers is verified experimentally using real two wheeled inverted pendulum system.

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“…Let the structure of the suggested optimal controller and worst-case disturbance be as follows [20]:…”

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