Design and control based on the concept of an inverted pendulum

The availability of affordable electronic components has made the learning of experiment-based control theory accessible to a wide population. In this paper, the concept of an inverted pendulum on a self-balancing robot will be experimentally demonstrated. The self-balancing robot is mathematically modeled through equilibrium equations, and a PID controller is used to control the tilt angle. The conducted experiment and measurements show that this approach gave useful and efficient results. This research has shown that in a simple and inexpensive way it is possible to practically create a device that can serve to understand the control theory and all those small details that the experiment carries with it.