Observer-Based Integral Sliding Mode Controller for a Two-Wheeled Inverted Pendulum

The modeling and control of a two-wheeled inverted pendulum (TWIP) is gaining much interest due to the various advancements in hardware computing technologies. A TWIP system has many advantages applications. However, it still faces challenges such as positioning, disturbance rejection, parameter uncertainties, etc. In this paper, scheme based on modern techniques presented overcome these issues. Furthermore, an observer-based robust integral sliding mode controller (ISMC) proposed for nonlinear system. Firstly, designed tackle short-term long-term constant time-varying disturbances well issues relating variation. Secondly, reduced-order observer estimate immeasurable states, enabling simplified implementation. It then applied model system, performance observed under different transient conditions. comparison with prevalent controllers literature carried out. This relates graphical results, time domain specifications, error indices, calculated states. From this, significant qualitative improvement can be all types transients. quantitative terms, zero steady-state five-fold settling variations are observed. paper also discusses software Simulink realization which valuable novices working area.