Frequency criterion for balancing robot control described by uncertain models

The paper focused on a method of designing PD controller for a class of balancing robot-cart and pole system. The uncertainty of model parameters was introduced as constraint in state space. PD controller was designed by using the frequency criterions. The stability of the control system was determined by Lyapunov techniques and Kalman-Yakubovich-Popov lemma. Control performance was proved and numerical simulations illustrate the quality of motion.