Analysis and Design of Robust Feedback Control Systems for a Nonlinear Two-Wheel Inverted Pendulum System

Two-wheel inverted pendulum is an open loop unstable system, and is a nonlinear system. But can use at many practice application, like SEGWAY etc. This paper research the theorems nonlinear property of the two-wheel inverted pendulum model and simulation its nonlinear output response. Simulation results show that system has robustness. Can maintain stable when suffer nonlinear inference and not change controller gain, And if we design a gain compensator controller cause by nonlinear property influence, simulation result show can improve the two-wheel inverted pendulum output response.