PID Tuning for the Pitch Angle of a Two-Wheeled Vehicle

A two-wheeled vehicle is an unstable system and it can be approximated to inverted pendulum, so there is a need of a suitable controller so that it can be stabilized. This paper compares three PID design techniques without mathematical model of the system in order to remain it stand. The methods discussed are Manual Tuning, Relay Tuning and Augmented Ziegler-Nichols and experimental results are presented. All the electronic gadgets and algorithms are embedded in the vehicle.