After integrating the absolute value of the output level for each controller in the designed method in this article and presented method in this study [30], the following results were achieved.
How to apply particle filtering approach in controller design: the controller design for nonlinear non-Gaussian systems is a quite challenging problem.
Imperfect state information must be taken into account in the controller's design in order to preserve its optimality.
And so, one uses the zeros of the controller in order to design the tracking system.
The nominal model of the plant is included in the controller design in order to improve control performance.
However, the nonlinearities caused by the rotation of the foot also affect the generated torque, which need to be accounted in the controller design in the future.
Although there are parameter uncertainties in ({L_0}) since the real contact radius of each wheel is ({D_{mathrm{in}}}) or ({D_{mathrm{out}}}), the parameter uncertainties are not considered in the controller design, in order to facilitate the theoretical analysis.
First, the blocked systems of linear time-invariant systems are useful in multirate sampled-data systems and in controller design as shown by Chen and Francis (1995) and Khargonekar, Poola, and Tannenbaum (1985).
The linear-quadratic-Gaussian algorithm is used in controller design.
The novelty of this paper is in controller design part.
