Robust H2 control for two-wheeled inverted pendulum using LEGO Mindstorms

In this paper, we assemble a two-wheeled inverted pendulum robot using LEGO Mindstorms. Robust H₂ control system is synthesized for the plant via focusing some uncertainties which appear in the process of the modeling. The mathematical model of the plant depends rationally on several uncertain parameters. To reduce the dependency to linear, descriptor representation and linear fractional transformation (LFT) is adopted. The effectiveness of the robust H₂ control is verified by simulations and experimental results. Finally, the usefulness of LEGO Mindstorms as an experimental equipment for verification is substantiated with comparing simulations and experimental results.