The thesis objective is to model a one link robotic arm mounted on a sliding mobile platform and to investigate different control strategies under the effect of gravity and external force disturbance. For simplicity the robotic set up can be modelled and controlled as an inverted pendulum moving on a non constant sloping surface.

Firstly the control is done on level ground. This lower mathematical complexity will be taken as an advantage to approach the analysis on aspects more related with control theory: several control techniques and observers, steady state error study, etcetera.

Afterwards the control is generalized for sloping grounds. This chapter will seek situations closer to reality, the purpose is to design something with practical interests, like model a Segway.