Robust Model Matching design for a two-link inverted pendulum

The Pendubot is one of the challenging experimental examples of underactuated systems. Many researches have been done for swing up control and balance or posture control of the Pendubot. For underactuated systems, complex behavior with model uncertainties makes it difficult to achieve satisfactory control performance without tuning controller´s parameters. To tune the parameters of the controller, it is desirable to construct module structure controller. A design method of attachable robust compensators for existing control systems have been proposed and referred to as robust model matching (RMM). In this paper, we apply the RMM to a balance/stabilizing control of a Pendubot. The add-on robust compensators improve the robustness without changing expected property of the existing Pendubot control systems