Kinematic control of 2-wheeled segway

The Segway is a popular self-balancing two-wheeled vehicle. In this paper, we present a control mechanism for the planar Segway problem. The open-loop analysis validates the fact that the system is unstable by default and there is a need to design a closed-loop feedback to establish control for the system. This has been done by implementing a PD controller for the multiple-output system. Since the kinematic equations of the system are non-linear initially, the controller has been designed by linearizing the equations about the equilibrium point. Later, the response of the non-linear system is examined using the designed controller.