Amir Mohsen Norouzi - Electrical and Computer Engineering Department, Faculty of Engineering, Kharazmi University Tehran, Iran
Elham Amini Boroujeni - Electrical and Computer Engineering Department, Faculty of Engineering, Kharazmi University, Tehran, Iran

This paper presents a comprehensive study on H∞, H۲, H۲-H∞, and μ synthesis control for a Segway which is an unstable practical device in industry. The aim is to design a robust controller for a Segway to have robustness as well as the desirable performance.Designed controllers are simulated in MATLAB by considering ۵% uncertainty on input coefficient. Finally the results are compared and analyzed.

Robust control; Robust performance; Segway; Uncertainty