Delay effect on motion control of a two-wheeled inverted pendulum

Abstract eng:
Two—wheeled inverted pendulum (TWIP, for short) is an open—loop unstable nonlinear system, the delay effect arising in the feedback loop has not been reported in the literature. This paper designs a delayed robust control for controlling the back—and—forth motion of a TWIP against the influence of uncertainties, and shows that the delay effect cannot be neglected in control design.

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