Optimized Control System Design for Two-Wheeled Inverted Pendulums

  • Haifei SiEmail author
  • Yizhi WangEmail author
  • Xingliu Hu
  • Zhong Yang
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 582)


This paper mainly looks into the attitude angle control of two-wheeled inverted pendulum and validates the reliability of proposed control system via practical model. In order to control the extreme sensible attitude angle, this paper firstly designed Kalman filter to filter noise caused by sensors and to obtain optimized measured angle data, secondly designed a cascade hybrid PID controller respectively for angle control and angle speed control. Specially, an integration control is introduced in major loop to stable the attitude angle caused by accumulated little error, and to improve the response speed compared with single P control. After hardware configuration and manufacture work, the reliability of proposed control system design is validated.


Two-wheeled inverted pendulums Kalman filter Cascade control PID control 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.College of Intelligent Science and Control EngineeringJinling Institute of TechnologyJiangning, NanjingChina

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