Analysis of human´s stabilization controller in a unicycle operation using Inverse Regulator Problem of optimal control

A purpose of this study is analyzing a human´s controller to understand a mechanism of skill acquation processes for riding a unicycle. In order to analyze the controller, inputs which an operator gives to the unicycle and states of the unicycle are measured and a human-unicycle model as same as the experiment is derived. A weighting matrix to the state is obtained from the states, the inputs and the model solving inverse regulator problem. The human´s controller for riding the unicycle is discussed by the obtained weighting matrix.