Design of a movable inverted pendulum

Analizirajući nelinearni matematički model pokretnog obrnutog njihala s dva nezavisno upravljana pogonska kotača realiziran je algoritam upravljanja u programskom alatu Matlab te isti primijenjen na mikrokontrolerskoj pločici Arduino. Pločica je implementirana u sklopu cijelog realnog modela samobalansirajućeg obrnutog njihala.By analysing nonlinear mathematical model of mobile inverted pendulum with two independently controlled wheel drive, algorithm is implemented in MATLAB and the same applied to board Arduino. The board is implemented as part of the real model of self-balancing inverted pendulum