Low cost two-wheels self-balancing robot for control education

摘要

This paper presents an experimental, Arduino based, low cost self-balancing robot developed at the University of Seville for control education. The main idea is that the students can learn electronics, computer programming, modeling, control and signal processing by means of the construction and control of this robot. The resulting model is a multivariable unstable nonlinear system with non-minimum phase zero. Experimental results obtained by students of the University of Seville are included to demonstrate possibilities of the prototype.