8: Mini-Segway System — Mechatronic System Example I

Mechatronics: Fundamentals, Design, Integration, and Validation · LibreTexts

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    From LibreTexts, under CC BY-NC 4.0, as the source states it; its equations are written in TeX, which the PDF shows typeset. This page at LibreTexts.

    Learning Objectives
    1. Understand the mechatronic system modeling method through the mini-Segway modeling process and its implementation in Simulink.
    2. Describe the dual-PID control architecture, along with its working principles, for the mini-Segway system, and the associated control tuning process.
    3. Explain the conversion process from differential equations to a state-space model and model-based control design process for regulation tracking purpose.
    4. Address how the sample and hold input method can be used to improve the closed-loop control system performance.
    5. Introduce the simulation validation process for a dual-PID mini-Segway controller. Construct a simulation validation model in Simulink.
    6. Discuss the simulation validation process for a model-based mini-Segway controller, especially the difference between utilizing linearized and original nonlinear models.
    7. Describe the architecture of the mini-Segway system from both hardware and software points of view. Also describe the process of experimentally validating the dual-PID control strategy.
    8. Provide a way to optimize the model-based controller experimentally.

    This chapter provides an introduction to mini-Segway system modeling. It describes both model-free and model-based pendulum position regulation as well as speed tracking with pendulum position stabilization. The model-based control minimizes a quadratic cost function with added tracking error state in the state-space design model. The chapter also incorporates simulation and experimental validations.

    Thumbnail: Mini-Segway hardware architecture

    This page titled 8: Mini-Segway System — Mechatronic System Example I was last modified on Mon, 20 Jul 2026 08:10:36 GMT and is shared under a CC BY-NC 4.0 license and was authored, remixed, and/or curated by Guoming Zhu (Co-DREAM OER) .