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Application of model reduction for robust control of self-balancing two-wheeled bicycle

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Figure

Figure 2. Schematic structure of bicycle controller
Table 2. Parameters of the two-wheeled bicycle model as the load is different  Case  Load volume
Figure 4. The robust control structure for self-balancing two-wheeled bicycle
Figure 5. Simulation diagram of self-balancing two-wheeled bicycle control system using robust controller  and PID controller
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