During my 2020 fall semester of MIT, I took a class called Dynamics and Controls II, and the final lab/project was to build a mini-segway and use Proportional and Integral (PI), Proportional, Integral, and Derivative (PID), and full-state feedback control methods keep the segway balanced and perform the various manuevers seen in the videos below. These manuevers include the segway balancing, going back and forth (changing the desired angle of the segway in a sinusoidal pattern), going in a circle, and making a figure eight pattern. The segway was built from a kit supplied by MIT and an arduino was used to code the motor. The segway was modeled as an inverted pendulum and a transfer function was found between the angle of the segway from its vertical position and the amount of force applied by the motors. The control strategies I mentioned above were then used with the transfer function to make the segway functional. I also wrote a report on the results of the lab, which you can view here.
