Design, Modeling, and PID Control Implementation of an Inverted Pendulum Two-Wheeled Self-Balancing Mobile Robot

Abstract

Two-wheeled self-balancing robots represent a classic benchmark for underactuated, non-linear dynamic feedback control systems based on the inverted pendulum model. This paper presents the end-to-end design, kinematic modeling, hardware assembly, and experimental calibration of a compact two-wheeled self-balancing robot platform. The proposed system utilizes an Arduino Nano ATmega328P microcontroller as the core computing unit, coupled with a 6-axis MEMS MPU6050 Inertial Measurement Unit (IMU) featuring an onboard Digital Motion Processor (DMP) for real-time attitude sensing. Actuation is achieved via two DC geared motors driven by an L298N dual H-bridge module. A proportional-integral-derivative (PID) control scheme is implemented to compute corrective torque vectors and balance the chassis dynamically along its pitch axis. Experimental evaluation demonstrates that the calibrated controller (Kp = 21, Ki = 140, Kd = 0.9) maintains stable upright posture with recovery times between 1.5 and 3.0 seconds following external impulsive disturbances. The system provides a scalable, cost-effective framework for educational mechatronics and mobile autonomous transport platforms