Inertia wheel pendulum balance control is performed by using swing up and PID controller with different wheel weight and diameters. In the pendulum control, 3 different radius wheels and different weights are added to analyze whether the system remained balance position. In this process, the effect of weight and diameter variables on the swing time and PID coefficients of the pendulum was observed. With this observation, the effects of input variables in the real-time system were compared with calculations in the dynamic pendulum model.
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