Computer-aided system design for educational purposes: An autonomous Self-balancing two-wheeled inverted pendulum robot

As mobile robotic systems become more complex, the need for software that facilitates the design of such systems becomes more apparent. In this paper, a MATLAB toolbox that allows for easier modeling, control, and motion planning of robotic systems is introduced. The procedure used to develop a robotic system with this toolbox is then described through an example of a Self-balancing two-wheeled inverted pendulum robot (STIP) to provide more insight to the capabilities of this toolbox.