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An inverted pendulum system is a highly coupled multivariable, nonlinear, unstable system. It is the perfect experimental device to examine various control theories. Controllability, stability, robustness and other key performance factors in control will be examined in the process of controlling such a system. The self-balancing robot is in fact a movable 3 DOF inverted pendulum system. The system, taking the gyro as feedback, is balanced by outputting different torque in two wheels.
The system provides more degrees of freedom to compare with a linear and planar inverted pendulum. It uses a real-time workspace in MATLAB and an embedded PC104 system with windows operating system. Online editing and modifying of the control algorithm is permitted, with various extension interfaces for sensors and vision.