Abstract
A control of the attitude and the stable running of a robot on a flat level plane, on a slope, and on an unknown road is studied. The robot is the one with a wheeled inverted pendulum. The control system of the model has been designed according to the state feedback control method, in which feedback gains can be determined by the pole placement. It is possible to control the robot's attitude and running on a flat level plane and a slope. A controller with integral compensation is designed to eliminated the offset caused by the disturbance like a slope or an unknown road. The effectiveness of the proposed method was demonstrated experimentally
