Dynamic Modeling and Analysis of a Two-Wheeled Inverted Pendulum Robot

A two wheeled inverted pendulum (TWIP) is an under-actuated mechanical system, which is inherently open-loop unstable with highly nonlinear dynamics. This property attracts the interest of researchers worldwide in recent years. In review, most of the researcher used either Lagrange or Newton-Euler for dynamic modeling of TWIP. Thus, this paper shows the study of the TWIP system by using Kane´s method. The nonlinear dynamical equations of the TWIP system were first derived using Kane´s Method. Based on the developed model, simulations study was carried out and the results show that the TWIP system is inherently open loop unstable, nonlinear system.