Optimal posture of Mobile Inverted Pendulum using a single gyroscope and tilt sensor

As interest is augmented about next generation Mobile Inverted Pendulum, researches are consisting very much about gyro sensor. Gyro sensor is a point sensor is used on inverted pendulum. However, it has problems that can not avoid error that happen by drift phenomenon. And the inverted pendulum technique is getting attention and there have been many researches on the Segway since the US inventor Dean Kamen commercialized. One of the major problems of the Segway is that many sensors are required for the control of the Segway, which result in the high price. Also, error by temperature change of gyro sensor is rising to controversial point still. By solution, it is supplemented in some degree through temperature compensation circuit, but we can not avoid accumulation error by flowing of time. In this paper, we wish to use IIR filter that is the one of digital filter method. It is very simple and practical use extent is wide. And we wish to make low-cost products has similar performance with current product using only a single sensor by supplementation of unique error in gyro sensor through efficient horizontal maintenance algorithm.