Multi-output identification and LQG control of a two-wheeled robot

This paper presents the design and Hardware-in-the-Loop (HIL) simulation of the control system of a two-wheeled robot that implements Linear-Quadratic Gaussian (LQG) controller. In contrast to the already available results based on a single-input single-output identification, a single-input multi-output identification procedure is applied for finding the robot model. A model of 5th order is derive...