LQG and Fuzzy Control of a Mobile Wheeled Pendulum


Attitude estimation:

Test bench measurements: measurements

Test bench additional measurements (independent):

measurement1,  measurement2measurement3measurement4


TWIP systems:

Á. Odry, I. Kecskés, E. Burkus, P. Odry, Protective Fuzzy Control of
a Two-Wheeled Mobile Pendulum Robot: Design and Optimization,
WSEAS Transactions on Systems and Control 12 (2017) 297–306.


Á . Odry, I. Kecskes, E. Burkus, Z. Kiraly, P. Odry, Optimized Fuzzy Control of a Two-Wheeled Mobile Pendulum System, International Journal of Control Systems and Robotics 2 (2017) 73–79.


Á. Odry, J. Fodor, and P. Odry, “Stabilization of a Two-Wheeled Mobile Pendulum System using LQG and Fuzzy Control Techniques,” International Journal On Advances in Intelligent Systems, 2016, pp. 112-232, ISBN:


Á. Odry, E. Burkus, I. Kecskés, J. Fodor, and P. Odry, “Fuzzy Control of a Two-Wheeled Mobile Pendulum System,” 11th IEEE International Symposium on Applied Computational Intelligence and Informatics (SACI 2016), 2016, pp. 99-104, ISBN: 978-1-5090-2380-6


Á. Odry, E. Burkus, and P. Odry: “LQG Control of a Two- Wheeled Mobile Pendulum System”
The Fourth International Conference on Intelligent Systems and Applications, 2015, pp. 105-112, ISBN: 978-1-61208-437-4


Á. Odry, I. Harmati, Z. Király, and P. Odry: “Design, Realization and Modeling of a Two-Wheeled Mobile Pendulum System”
Proceedings of the 14th International Conference on Instrumentation, Measurement, Circuits and Systems, 2015, pp. 75-79, ISBN: 978-1-61804-315-3