Multi-Output Identification and Robust Control of a Two-Wheeled Robot

This paper describes the identification, robust design and experimental evaluation of the control system of a two-wheeled robot implementing a µ-controller. The design utilizes a single-input multi-output uncertainty model obtained by an appropriate identification procedure. The uncertain model is used in the design of a µ-controller which guarantees robust closed-loop stability and performance. The controller is embedded in a Raspberry Pi 4B microcontroller and the results from the experiments confirm the design.