1. From: Design for Control of Wheeled Inverted Pendulum Platforms
Date of download: 11/5/2017
Copyright © ASME. All rights reserved.
From: Design for Control of Wheeled Inverted Pendulum Platforms
J. Mechanisms Robotics. 2015;7(4): doi: /
Figure Legend:
(a) Variation of pitch gain with motor constants, (b) variation of wheel position gain with motor constants, (c) variation of pitch rate gain with motor constants, and (d) variation of wheel velocity gain with motor constants. Note: the wheel velocity gain is the only gain that reduces the stability margin of the voltage controlled WIP.