%0 Journal Article
	%A A. N. K. Nasir and  M. A. Ahmad and  R. M. T. Raja Ismail
	%D 2010
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 46, 2010
	%T The Control of a Highly Nonlinear Two-wheels Balancing Robot: A Comparative Assessment between LQR and PID-PID Control Schemes
	%U https://publications.waset.org/pdf/15128
	%V 46
	%X 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.
	%P 942 - 947