Abstract
The chapter first presents a linearized model of the WIP system, then PD, LQR, H ∞ and backstepping controllers have been implemented. The pole placement method has been employed to design a PD controller, allowing the designer to specify the response of the closed loop system. Comparisons were made between the performance of an LQR controller and PD controller. The LQR controller is found to perform better when subject to the situation where the parameters vary with time. Finally, H ∞ and backstepping controllers are also developed.
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Li, Z., Yang, C., Fan, L. (2013). Linear Control. In: Advanced Control of Wheeled Inverted Pendulum Systems. Springer, London. https://doi.org/10.1007/978-1-4471-2963-9_4
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DOI: https://doi.org/10.1007/978-1-4471-2963-9_4
Publisher Name: Springer, London
Print ISBN: 978-1-4471-2962-2
Online ISBN: 978-1-4471-2963-9
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