Model-Based Design for a Self-Balancing Robot using the Arduino Micro-Controller Board

Self-balancing robot control is a common way to challenge students in control-oriented courses to stabilize an unstable, non-linear dynamic system. This paper presents an application of model-based design on a self-balancing robot using the Arduino Due micro-controller board. The system consists of a set DC-motors with quadrature encoders, a nine degree of freedom (9-DOF), a Bluetooth module, a motor controller and a micro-controller. By utilizing cheap off-the-shelf hardware and applying model-based design techniques and simulations an accessible learning environment is created. Both the PID and LQR controllers will be discussed for their educational value.