PENS-wheel (one-wheeled self balancing vehicle) balancing control using PID controller

Pens-Wheel is an electric vehicle which uses one wheel that able to balance itself so the rider does not fall forward or backward while riding it. This vehicle uses one brushless DC motor as actuator which capable to rotate in both directions symmetrically. The vehicle uses a combination of accelerometer and gyroscope contained in IMU (Inertial Measurement Unit) for balancing sensor. The controlled motion on the vehicle occurs only on the x-axis (pitch angle), in forward and backward directions. The PID (Proportional Integral Derivative) control algorithm is used to maintain the balance and movement of the vehicle. From the simulation and application in the real vehicle, the use of PID control is capable driving the vehicle in maintaining the balance condition within ±10° tilt angle boundary on flat surface, bumpy road, and inclining road up to 15° slope.