A model matching for the stabilization of the two Wheels Inverted Pendulum

In this article, a model matching controller for the stabilization of the Two Wheels Inverted Pendulum is present. The stabilization strategy consists in forcing the closed-loop system to behave as another nonlinear target system with some stability properties. To this end, we solve two matching conditions that allow us to shape a suitable target system and we obtain the stabilizing controller. The resulting closed-loop system is locally asymptotically exponentially stable, with a very large domain of attraction.