Abstract

This paper presents experimental results of three control strategies to stabilize a two-wheeled inverted pendulum. The control techniques used are PID, Linear-Quadratic Regulator (LQR), and Sliding Mode Control. The comparison results of the three controllers are for angular wheel position tracking, for external disturbances, and parameter uncertainties in the model. Tests are quantified in terms of Integral Square Error–ISE. For the experiments, the robot was constructed with LEGO Mindstorms NXT 2.0.