MinSeg

This is the course project of ELEC-E8101 Digital and Optimal Control at Aalto University. It is somewhat like the inverted pendulum I did in my bachelor’s program, but this time I went much further than simulation. With the course guidance, I managed to implement a PID, an full-state feedback and a LQR controller for the MinSeg robot. The starting point is also formula derivation, followed by simulation in Simulink. After that, the I used the Arduino module in Matlab to compile the Simulink model into C code, and downloaded to the robot. On a real robot, the PID controller did not worked well, and the full-state feedback could balance up to 20 seconds. While the LQR controller could keep the robot balanced longer than the other two.