Control Systems • MATLAB • Mechatronics • Dynamic Modeling
This project focused on modeling and controlling a two-wheeled inverted pendulum — a system that mimics how devices like Segways balance on two wheels. The challenge was to maintain vertical stability while allowing forward and backward motion using real-world physical constraints.
We started by studying the theoretical dynamics of the system using Newton-Euler methods. The system was broken down into three major subsystems: the wheel torque and motion dynamics, the pendulum (or body) angle, and the disturbance factors including ground friction and tilt acceleration.
🧠The control strategy was divided into two distinct phases. First, we modeled how to apply a controlled torque to bring the system from rest to an upright position. Once upright, the second phase involved feedback control to keep the system in balance using angular velocity and tilt angle as inputs.
🧪 We developed the entire control simulation in MATLAB from scratch, incorporating physics-based modeling of angular momentum, torque, and damping. This involved solving coupled differential equations using ODE solvers and tuning physical parameters until the system demonstrated consistent stability. The code served as both a testbed for theoretical concepts and a tool for validating real-world feasibility.
This hands-on project was a great exploration of classical mechanics, feedback control design, and practical coding. It taught us how theoretical equations evolve into real-time system behavior — and how small parameter changes can significantly affect system stability.
MATLAB • Simulink • Classical Mechanics • System Dynamics • Control Theory
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