segway simulation on Inclined plane

Hi,

I have a inverted pendulum(segway) simulated with a PID controller. The new task is to simulate it on a inclined plane where it is standing. Is is so easy possible, because you have to now the different forces or? Otherwise it would drive down. Does anyone has a tip?

Answer 1

[Sam Chak]

Hi @Christopher

You can probably find about the modeling knowledge in this article, "A Control Method of Inclined Inverted Pendulum on a Mobile Foundation with Disturbances" by Cheng Guo, Xiaoyu Han & Yingmin Jia.

You can also find a configuration of a Simulink model in the article. You can send an email to main author, requesting for help.