I don't understand how to link the higher level controller of a WIP

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Valeria Leto 2021-8-23

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https://ww2.mathworks.cn/matlabcentral/answers/1439284-i-don-t-understand-how-to-link-the-higher-level-controller-of-a-wip

Hi! I am trying to simulate a wheeled inverted pendulum with a partial feedback linearization law. I would like to control its velocity with alpha and theta. The problem is that there is a lower and a higher level controller and I don't understand how to link them. I did this scheme and it works if I set a constant alpha_ref, but I have to change it because I have this control law for the alpha_ref dynamics:

with vd the desired velocity. Any ideas of what I should do? I attached the article I am following If someone would like to read it. Maybe it's not the right place to publish this post, sorry for that.