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HI guys, This is Balance1, my balancing robot, I built balance1 to demonstrate that a digital controller I had designed in MatLab actually worked in the real world. The controller i ended up using for Balance1 is a digital LQR controller to balance and also stay in the same position. The LQR controller works really well because it uses a weigthing matrix to let you make balancing more important than staying in the same position. This means that if Balance1 is going to fall over ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/balancing-robot-balance1