This WIKI describes how to build a two-wheel balancing robot. I began writing this WIKI as a personal journal for my own project, however my agenda was to design a robot introducing control theory in the easiest way and building the robot at an affordable cost, so I hope others can also benefit from it!! The kit is based on a popular open-architecture development board Arduino, which uses an ATmega168 chip from Atmel Corporation. The overall cost of the kit is less than $300 which is well below the cost of similar commercially available educational control kits. The procedure used for motor identification, inertial measurements fusion technique, system modeling, and controller design/implementation are described in the following pages.

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