SEAN (XINYI) CAI
The project goal is to create a control system that will be able to balance this mini Segway.
The steps involves in this project including, dynamic system modeling, controller design and simulation, and hardware implementation.
Simulink block diagram of the segway with LQR controller.
The inv_pend in MATLAB Function block is the dynamic model of the segway.
LQR gain is calculated by using MATLAB Function lqr().
Self balancing on a tilted surface.
Self balancing with external disturbances.