Sliding mode control for two wheeled inverted pendulum under terrain inclination and disturbances

Nonlinear Model Predictive Control for a Self-Balancing Wheelchair

“…To address limitations of linearization, Liang Sun et al [8] used a combination 6 of LQR and PID to achieve self-balancing control of the robot 7 within a larger angle range. On the contrary, some researchers 8 [9], [10] have chosen to minimize the pitch angle as much 9 as possible. They used a robust sliding mode controller to 10 minimize the linearized error.…”