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The distinguishing characteristic of PCT is that the controlled variables are the inputs (perceptions, as opposed to the system outputs). This paper presents the first direct comparison of a PCT controller for a mobile robot (a two-wheeled \u2018inverted pendulum\u2019 balancing robot) with a classical control method, LQR. Simulations and experimental validation results show that the performance of the PCT controller is comparable to the LQR controller and better at disturbance rejection.<\/jats:p>","DOI":"10.1007\/s10846-020-01158-4","type":"journal-article","created":{"date-parts":[[2020,3,7]],"date-time":"2020-03-07T03:02:31Z","timestamp":1583550151000},"page":"683-692","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":25,"title":["Implementation of a Perceptual Controller for an Inverted Pendulum Robot"],"prefix":"10.1007","volume":"99","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4413-8717","authenticated-orcid":false,"given":"Thomas","family":"Johnson","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Siteng","family":"Zhou","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"Cheah","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Warren","family":"Mansell","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rupert","family":"Young","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Simon","family":"Watson","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,3,7]]},"reference":[{"key":"1158_CR1","volume-title":"Cybernetics: or Control and Communication in the Animal and the Machine","author":"N Wiener","year":"1948","unstructured":"Wiener, N.: Cybernetics: or Control and Communication in the Animal and the Machine. 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