Research on sampling period of discrete variable structure controller based on the two-wheeled self-balanced vehicle

Two-wheeled self-balanced becomes a typical device to test various control method because of its unique characteristics. The sliding mode of VSC (Variable Structure Control) has strong robustness, so it is applied to the two-wheeled self-balancing vehicle would be a great advantage, but there is few research on it. To realize the computer control based on the discrete variable structure controller, we have to research the sampling period. In this paper, we give a method to find the longest sampling period of VSC based on two-wheeled self-balanced Vehicle.