Lyapunov Method for the Controlling of the Two Wheels Inverted pendulum

Abstract

In this paper, a nonlinear controller for the stabilization of the two wheels inverted pendulum is presented. Firstly, by suitable partial feedback lin- earization that allows to linearize only the actuated coordinate system, we proceed to nd a function Lya- punov in conjuntion with LaSalle's invariance principle. Based on this candidate function, we derive a stabilizing controller in such away that the closed-loop system is locally asymptotically stable around its unstable equi- librium point, with a computable domain attraction.