Terminal Sliding Mode Control of Mobile Wheeled Inverted Pendulum System with Nonlinear Disturbance Observer

Table 1

Notations for MWIP parameters.

Parameter	Description
,	Masses of the body and the wheel
,	Moments of inertia of the body and the wheel
	Length between the wheel axle and the center of gravity of the body
	Radius of the wheel
	Viscous resistance in the driving system
	Viscous resistance of the ground
	Rotation torque generated by the wheel motor