Implementation and Closed Loop Identification of a Two Wheeled Inverted Pendulum Mobile Robot

In this paper the hardware development for the implementation of a Two Wheeled Inverted Pendulum (TWIP) and the closed loop identification process is described. In the identification process, a linear model for a single-input multiple-output (SIMO) system is used for representing the robot dynamics. The Sum of the Square Error (SSE) is adopted as the comparison criteria between the output of the simulated model and the output data measured from the robot implemented.