Performance Improvement of an NMP Mini Segway Using Sample and Hold Inputs

Early analytical work showed that it is possible to discretize a continuous-time non-minimum phase (NMP) system using special sample and hold inputs (SHIs) obtain discrete-time minimum (MP) with higher sampling rate than of conventional zero-order hold. As result, high-gain control law can be used further improve closed-loop performance since the resulting MP. In this paper, technique adopted for improvement on mini-Segway (MS), developed robot equipped an extremely low-cost microcontroller (Arduino). A dual-loop tuning method was optimize overall performance. The demonstrated by reduction oscillation magnitude under idle conditions. experimental results show SHI scheme, MS cart displacement significantly reduced more 65% over baseline controller. main contribution paper implementing proposed input (SHI) scheme into micro-controller (Arduino) demonstrating microcontrollers effectively utilize SHI.