Washout control for inverted pendulum mobile robots with sensor drifts

We consider a stabilization problem of an inverted pendulum robot with a sensor drift by using a dynamic state feedback controller. The sensor drift occurs a bias in the steady-state, even if the inverted pendulum is stabilized. In previous research, it is investigated that steady-state blocking zeros of the stabilizing controller play an important role. Such a controller is called a washout controller. In this paper, we propose a new washout controller which eliminates the bias in the steady-state. Then, we develop a design method for the proposed washout controller that can be designed by a stabilizing state feedback gain.