Poles´ effect on the qualities of a two-wheeled large-angle balancing mobile

This paper mainly discusses the poles´ effect on the performance of a two-wheeled balancing mobile, which is inherently unstable and so needs to be stabilized in a large angel range by a balance control unit. Three aspects are included: first, similarity between the linearization model and the original nonlinear system model is increased by using feedback linearization; Second, system transient performance >; robustness >; angel-controllable range are analyzed by state variables, control voltage and sensitivity function , which are all changed with poles´ positions; Finally, the conclusion is that poles´ effect on angel-controllable range is contrary to the transient performance, stability and robustness.