High gain controller with state feedback for two wheeled self-balancing robot

In this paper, a high gain control method with state feedback is developed for the two wheeled self balancing robot. The designed controller ensures the trajectories tracking as well as the maintaining of the upright position. Then a filtering action is integrated to the control method in order to compensate the step-level disturbances. Simulation results assert the performance of the proposed controller applied on the two wheeled self balancing robot.