Control of electric unicycles

In this paper, several controllers were proposed and developed to control and maintain the balance of electric unicycle. The proposed controllers are Linear Quadratic Regulator (LQR), Linear Quadratic Regulator with Integral action (LQRI) and Feedback Linearization controller (FBL). Then a comparison is held based on disturbance rejection and tracking ability for desired unicycle speed. The performance and merit of FBL are well exemplified by conducting several simulations in Matlab/Simulink environment.