Modelling and Control using Pole Placement Method for Self Balancing Robot


  • Ahmad Fahmi, Marizan Sulaiman, Indrazno Siradjuddin, Muhammad Iqbal Akbar, M. Zainal Arifin, Arafah Husna Ratna, Ika Putri, Aang Junaidi, Zakiyah Amalia, Ahmad Fudloli


Two-wheeled balancing robot (Segway) is a mobile robot that have one wheel on the right and one wheel on the left side that can not be balanced if not controlled. Segway is one wheel on the underactuated and non-linier control system. Segway properly stability control method is presented in this paper.The simulation and modeling system of the two wheels self balancing robot (segway) also proposed. By modeling and doing simulation, we knew the original response and controlled response of segway. Stability is important parameter in designing of segway, we suggest a controller to guarantee stability response using poleplacement method, The general pole placement technique places closed loop poles in desired locations in the s-plane is discussed.

Keywords: Pole Placement Segway Modeling Balancing Control