Study of controllers for a two wheeled self-balancing robot

Abstract

This work describes the study of various controllers on a two wheeled self-balancing robot. The concept behind the two wheeled self-balancing robot is based on the principle of an inverted pendulum system. The model is constructed on the basis of state space design of cart and pendulum system. The main focus of the work is to develop an efficient controller to act robot in a real time environment. The closed loop performance of a two wheeled self-balancing robot with PID, LQR, LQG controllers are obtained and compared by using MATLAB program.