Detection of unrevealed non-linearities in the layout of the balancing robot

Abstract

This paper studies the mathematical model of the object "inverted pendulum" on the example of the unstable electromechanical device - balancing robot on the wheel pair. The paper gives the results of analysis of the impact of many real control object properties on the system performance. Among them the most important ones are the actuator, filters, friction and the tendency to fluctuations.