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I controlled my balance robot using a a two fuzzy logic controller 1-one for (IMU feedback) using as input the angle and change in angle , the output is a PWM1 . 2-second for (encoder feedback) use a wheels velocity as input and the output is a PWM2 . PWM=PWM1+PWM2 (motor Control)
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/two-wheeled-inverted-pendulum-fuzzy-controller