Controller design base on servo state feedback for two-wheeled balancing robot

Abstract

This paper presents the controller design for the two-wheeled balancing robot system. The proportional- derivative (PD) controller was designed to compare the performance with servo state feedback controller designed by pole placement technique. Both controllers are used to stabilize the two-wheeled balancing robot system. Simulation results show that servo state feedback design can stabilize the balancing robot. Moreover, the presence of its large deviation angle is also better than PD controller.