Real-time implementation of different controllers for a two-wheeled inverted pendulum

Juan Villacrés, Michelle Viscaíno, Marco Herrera, Oscar Camacho

Research output: Contribution to journalArticlepeer-review

9 Scopus citations


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.

Original languageEnglish
Pages (from-to)281-290
Number of pages10
JournalInternational Journal of Circuits, Systems and Signal Processing
StatePublished - 2016
Externally publishedYes


  • LQR
  • PID
  • Robustness
  • Sliding mode control
  • Tracking


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