Design and experimental evaluation of a state feedback controller for two wheeled balancing robot

This paper presents an experimental study of a state feedback controller for stabilizing a two wheeled self balancing robot which is constructed from Lego Mindstorms NXT 2.0 kit. A gyro sensor and two wheel encoders help in measuring the robot state. This state information is used by a linear quadratic regulator (LQR) to stabilize the robot. The initial design and validation of LQR controller is carried out in MATLAB environment. The control gains are tuned afterwards for satisfactory real time results.