关键词：自动分化；非线性控制；单轮机器人
摘 要：Since a nonlinear dynamical model is very complex, it causes the exponential increase in computation time. Implementation of nonlinear control is very difficult when the order of the model becomes high. Automatic differentiation is a new approach for implementing the computation of the nonlinear systems. This paper shows simulations and experiments in lateral plane of a mono-wheel robot.