Digital Control of Balancing Robot

The paper solves the problem of developing a two-wheeled balancing robot. The technology for solving this problem can be extended to any close problem, commonly it can be called stabilization of an inverted pendulum. The relevance of the development is justified by the need to solve control problems in many important technical systems, such as small-sized autonomous two-wheeled robots, stabilization of the antenna of a space device, stabilization of rocket motion on a jet stream, and so on. The practical solution to this problem using the simplest possible actuators, mainly due to correctly designed controllers implemented on digital microcontrollers, makes this development a useful training stand for training highly qualified specialists in the field of robotics, mechatronics and automation.