Comparison of A PID Controller Versus LQG Controller for A Ball Balancing Robot

With small footprints, omnidirectional motion, and ability to swiftly reverse without rotating the body, ball balancing robots are suitable for operation in narrow areas. This robot is inherently unstable, so it must always be actively balanced. In this paper, two controllers (a PID controller and a LQG controller) are compared to apply to the prototype designed and built at the Faculty of Mechanical Engineering, University of Science and Technology, the University of Danang. The performance of the controllers is assessed through simulation under different operating conditions. The results show that LQG controllers are of better performance (small rise time, settling time) than PID controllers