本文利用多变量系统的频域设计方法－特征结构分解，将多变量系统分解为一组独立的ＳＩＳＯ特征子系统，对各特征子系统，通过加权补偿，由极点配置保......

The purpose of this study is to develop a self-balancing controller (SBC) for one-wheeled vehicles (OWVs). The compositi......