🤖 Self-Balancing Robot with Ball Balancing using PID & LQR in MATLAB Simulink

🎯 Master the Art of Advanced Control Systems!

This powerful simulation models a two-wheeled self-balancing robot with an added challenge — balancing a ball on its top platform — controlled using both PID and LQR techniques in MATLAB Simulink Simulink.

With real-time animation, complete Lagrangian modeling, and integrated controller comparison (PID vs. LQR), this package is perfect for control systems learners and researchers.

📘 What’s Included:

✅ MATLAB Simscape model (.slx) with robot + ball balancing

✅ Both PID and LQR controllers to test and compare performance

✅ Real-time animation of robot and ball dynamics

✅ Euler-Lagrange equations used for modeling

✅ Scope outputs: Position, Angle, Velocities, and Input Forces

✅ Step-by-step tutorial video included

✅ SolidWorks-generated data used for model construction

✅ No .m file needed — only .slx, animation, and setup

⚙️ Technical Highlights:

📌 2-in-1 System: Balance both robot and ball using coupled control

🎛️ Compare PID vs. LQR in one environment

📐 Based on nonlinear Lagrangian mechanics

📊 Real-time scope outputs for every key parameter

🔧 Easily tunable parameters and block structures

🧩 Best For:

Students in Robotics, Control Systems, Dynamics

Researchers exploring dual-control systems

Educators demonstrating LQR vs. PID behavior

Engineers building robot balancing prototypes

📂 You’ll Receive:

🎬 .slx MATLAB Simscape simulation file

🎥 Full tutorial video with instructions

📄 Documentation with dynamic equations

(No standalone .m file; all logic built into Simulink)

🧠 Control Strategy:

🎛️ PID: Classic proportional control approach

🧠 LQR: Optimal state-feedback control

📧 Need Help?

Email: [email protected]

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Thanks for your support — happy simulating!

— engrprogrammer 🚀