PID control behavior and sensor filtering for a self balancing personal vehicle

Simple self balancing vehicles require that a single physical input be sufficient for balancing as well as continuous movement. This paper discusses the control behavior of PID controller for such a vehicle named SubukRaftar which has a digital filter and controller running on an AVR microcontroller. Control variable, the tilt angle of platform, is plotted using MATLAB to study response of the controller. Response of two sensors used, gyroscope and accelerometer are also analyzed using MATLAB and possible complementary filtering solution is discussed.