TY - JFULL AU - A. N. K. Nasir and M. A. Ahmad and R. M. T. Raja Ismail PY - 2010/11/ TI - The Control of a Highly Nonlinear Two-wheels Balancing Robot: A Comparative Assessment between LQR and PID-PID Control Schemes T2 - International Journal of Mechanical and Mechatronics Engineering SP - 941 EP - 947 VL - 4 SN - 1307-6892 UR - https://publications.waset.org/pdf/15128 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 46, 2010 N2 - The research on two-wheels balancing robot has gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Linear Quadratic Regulator (LQR) and PID-PID controllers for a highly nonlinear 2–wheels balancing robot. The mathematical model of 2-wheels balancing robot that is highly nonlinear is derived. The final model is then represented in statespace form and the system suffers from mismatched condition. Two system responses namely the robot position and robot angular position are obtained. The performances of the LQR and PID-PID controllers are examined in terms of input tracking and disturbances rejection capability. Simulation results of the responses of the nonlinear 2–wheels balancing robot are presented in time domain. A comparative assessment of both control schemes to the system performance is presented and discussed. ER -