Two-Wheeled Self-Balancing Robot Based On LQ-Servo with Reduced Order Observer

In this paper, the LQ-servo controller using a reduced order observer is proposed. Since the reduced order observer estimates only the immeasurable states, it does not need to realize the full order estimator or install many sensors. The design method of the LQ-servo controller is presented, which reduces overshoot and oscillation of the time domain response of the system. We show that the angle and position are rapidly regulated to zeros without oscillation and illustrate the effectiveness and performance of the proposed control system by the numerical example.