nonlinear modeling and optimal output control of two wheeled balancing transporter

in this paper an optimal controller is proposed for a self-balancing electrical vehicle called segway pt. this vehicle has one platform and two wheels on the sides and the rider stands on the platform. a handlebar, as a navigator, is attached to the body of segway, with which the rider controls the vehicle. since segway uses electrical energy produced by batteries, resource consumption management is of utmost importance. on the other hand, complex nonlinear dynamics cause difficulties in controlling the vehicle. our proposed controller reduces energy consumption and enhance response speed of system instead of classic pid controller which proposed before.  simulation results show the desired performance of the proposed controller.