Szukana fraza: [Abstract = "Essential ingredients for robust control are the ability to cope with different types of system behavior following modeling imperfections and the ability to assure a certain performance level. In this paper, we propose to use an actuator fault\-tolerant control law to govern, during experiments, the stabilization of a bicycle robot with an inertial wheel in order to take into account unmodeled uncertainty introduced by using a linearized model in an LQR fashion. Our proposal is illustrated by signal plots and the values of performance indices obtained from a set of experiments."]

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