Multi input single output closed loop identification of two wheel inverted pendulum mobile robot

This paper presents system identification process on multi input single output (MISO) closed loop of Two Wheel Inverted Pendulum (TWIP) mobile robot. This study considers 4 linear models, which are ARX, ARMAX, BJ, and OE. The actual input output data is used in the analysis. The ARX model shows the best model for TWIP system.