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Go to Editorial ManagerThis paper proposes robust control for three models of the linear inverted pendulum (one mass linear inverted pendulum model, two masses linear inverted pendulum model and three masses linear inverted pendulum model) which represents the upper, middle and lower body of a bipedal walking robot. The bipedal walking robot is built of light-weight and hard Aluminum sheets with 2 mm thickness. The minimum phase system and non-minimum phase system are studied and investigated for inverted pendulum models. The bipedal walking robot is programmed by Arduino microcontroller UNO. A MATLAB Simulink system is built to embrace the theoretical work. The results showed that one linear inverted pendulum is the worst performance, worst noise rejection and the worst set point tracking to the zero moment point. But two masses linear inverted pendulum models and three masses linear inverted pendulum model have a better performance, a better high-frequency noise rejection characteristic and better set-point tracking to the zero moment point.
This paper presents the design of robust four parameters (two degree of freedom) PI-PD controller based on Kharitonov theorem for antilock braking system. The Particle Swarm Optimization (PSO) method is used to tune the parameters of the proposed controller based on Kharitonov theorem to achieve the robustness over a wide range of system parameters change. The proposed cost function combines the time response specifications represented by the model reference and the frequency response specifications represented by gain margin and phase margin and the control signal specifications. The model reference control is used because of the antilock braking system is originally nonlinear and has different operating points. The robust stability is guaranteed by applying the Kharitonov theorem. Three types of road conditions (dry asphalt, gravel and icy) are used to test the proposed controller.