Real-time control to hold upright equilibrium of a two-wheeled auto-balancing vehicle

In this document, a two-wheeled auto-balancing vehicle prototype is described, the upright balancing control of this inverted-pendulum-type vehicle is tackled by a classical control scheme in real time. Even though the system is nonlinear, unstable and under-actuated which implies a difficult control problem, a classical PID strategy together with a dead-zone and an anti windup compensation is used to get acceptable results. The upright balancing is the most fundamental control for the two-wheeled inverted pendulum because no other control is possible without stable upright balancing. This document shows the electromechanical prototype structure and its controller for keeping the upright equilibrium.