Robust control of the inverted pendulum and mobile robot

Abstract

This paper describes a systematic method for designing the robust controller for the inverted pendulum which is a nonlinear and single-input double-output system. The system is proved to work properly through simulation and experimentation. It controled both a car and vertical bar for control inverted pendulum in gravity field. In particular, the system is controlled by PSID. Especially, the result of variable structure control was finely shown high performance of closed loop control that compensate unstable situations for designed systems.