2016 4th International Conference on Control, Instrumentation, and Automation (ICCIA)
27-28 January 2016, Qazvin Islamic Azad University, Qazvin, Iran
An Experimental Study on the PID and Fuzzy-PID
Controllers on a Designed Two-Wheeled Self-
Balancing Autonomous Robot
Rasoul Sadeghian
Department of Electrical, Biomedical and Mechatronics
Engineering, Qazvin Branch,
Islamic Azad University, Qazvin, Iran.
rasoul.sadeghian@taarlab.com
Abstract— This paper presents a dynamic model and control
strategies for a two-wheeled self-balancing robot. The dynamic
model of the under study two-wheeled self-balancing robot is
calculated based on Newtonian method and the control strategies
is designed based on the calculated dynamic model which is
constructed for this paper. The parameters of the proposed robot
which are used for controlling the proposed robot are tilt angle
and displacement of the proposed robot. Based on the system
zeroes and poles location which are calculated based on transfer
functions of the under study robot, proportional derivative and
proportional integral derivative controllers are designed. The
controllers parameters are tuned with the Genetic algorithm.
Fuzzy logics are used to improve the balance ability especially
under external forces. The experimental results of implementing
the proportional derivative controller represented that a slight
vibration is appeared on the body of the proposed robot and it
fell down after few seconds. The proportional integral derivative
controller improved the stability of the proposed robot but the
robot fell down when an external force is applied on the body of
it. After implementing the designed Fuzzy-PID controller on the
under study two-wheeled self-balancing robot, the stability of the
under study two wheel self-balancing robot under external forces
is improved impressively.
Keywords— Self-balancing robot ,Genetic algorithm ,Tuning,
PID , Fuzzy-PID ,Simulation.
I. INTRODUCTION
In recent decades, many researches have been conducted on
urban transport non-pollutant vehicles. Due to the proposed
requirements, various kind of non-pollutant vehicles are
designed and constructed. Self-balancing robots are kind of
robot which can be provided the proposed purposes. The
features of self-balancing robots which makes them attractive
for users can be regarded as:
1) No need of fossil fuels;
2) High ease of use and great maneuverability because
of independent control of two wheels;
3) Lower cost of energy than fossil fuels;
The two-wheeled self-balancing robots have more efficiency
compared to other self-balancing robots like ball balancing[1]
and one wheel robot[2]. The features such as desired safety
and controllability makes them favorable compared to the
other self-balancing robots. Segway [3] robot is the first self-
978-1-4673-8704-0/16/$31.00 ©2016 IEEE 313
Mehdi Tale Masoule
Human and Robot Interaction Laboratory, Faculty of New
Sciences and Technologies,
University of Tehran, Tehran, Iran.
m.t.masouleh@ut.ac.ir
balancing robot which is reached to mass production stage.
The proposed robot is a two-wheeled self-balancing robot
which can be used as an urban transportation vehicle. The
balancing and positioning control are the most concerns in
designing a self-balancing robot. The two main parameters
which are controlled in the proposed robot can be regarded as,
tilt angle and displacement of the robot. There are various
methods for controlling a self-balancing robot but the main
limits which are made some of the controllers unsuitable for
implementing on the proposed robots can be regarded as, the
process ability of the micro-controller which is set on the
robot or the equipment installation space segment. Some of
controllers which were used on self-balancing robots can be
regarded as, PID backstepping [4], robust[5] and adaptive
neural network controllers[6].
The main contribution of this paper consists in designing a
high performance controller which can be implemented on the
two-wheeled self-balancing robot which is constructed for this
project. The other aim of this paper is tuning the designed
controllers with Genetic algorithm and Fuzzy logics to have
better performance when they are implemented on the
proposed robot.
The remainder of this paper is organized as follows. In Section
2, the electrical and mechanical structure of the proposed
robot are completely described, then dynamics model of the
under study two-wheeled self-balancing robot is presented. In
Section 4, the transfer function of the proposed robot is
calculated. Then the transfer function of the robot is described.
Then the process of implementing the Genetic algorithm on
the designed controller is described in section 6. Then the
process of designing of PD and PID controller is completely
described. In Section 8, the process of designing a Fuzzy-PID
controller is explained. Finally, some experimental results are
given to the end of proposing the most promising controllers.
II. SYSTEM DESCRIPTION
The body of the two-wheeled self-balancing robot which is
presented in this paper is constructed with two sheets of
Plexiglas which are connected together. Two DC encoder
motors are used for the proposed robot which is installed to
the robot chassis with two U-shape parts.
 1) Body and wheels are rigid;
2) Both wheels have same radius;
3) The wheels roll on the ground without slipping;
4) The ground is a flat surface with a certain slope;
5) Both wheels have the same mass;
Figures 2 and 3 illustrate the proposed robot dynamic model
parameters. By considering m as wheel mass and ‫ܨ‬௙ as friction
force between the ground and wheels, one has:
݉ܽ ൌ  ‫ܨ‬௙ െ  ‫ܨ‬ு  (1)
where a is the linear acceleration and ‫ܨ‬ு is the reactionary
force between wheels and the proposed robot body. By
considering Į as the wheels angular acceleration and IJ as
motor torque, one has:

Fig. 1. The two-wheeled self-balancing robot which is constructed in this ߬ െ  ‫ܨ‬௙ ‫ ݎ‬ൌ  ‫ܬ‬ఈ (2)
project.

In (2), r is the wheel radius and J is the model rotational

moment of inertia. In order to calculate the proposed robot
body dynamic model terms, by considering M as the robot
mass and ‫ݔ‬௦ as distance between the robot center of mass and
x-axis, one has:
‫ݔ‬௦ ൌ ‫ ݔ‬൅ ݀‫݊݅ݏ‬ (3)

ௗ మ ௫ೞ
‫ܯ‬ ൌ ʹ‫ܨ‬ு  (4)
ௗ௧ మ

In (3), Ԧ is the angular displacement of the under study self-

balancing robot body from balance situation and d is the
Fig. 2. Free body diagram of wheels. distance between the motor shaft and the proposed robot body
center of mass. By substituting (3) into (4), one has:

ௗ మ ሺ௫ାௗ௦௜௡௾ሻ
‫ܯ‬ ൌ ʹ‫ܨ‬ு  (5)
ௗ௧ మ

For y-axis, (3), (4) and (5) can be rewritten as:

‫ݕ‬௦ ൌ ݀ ൈ ሺͳ െ …‘• ߐሻ (6)

ௗ మ ௬ೞ
‫ܯ‬ ൌ ʹ‫ܨ‬௩ െ ‫݃ܯ‬ (7)
ௗ௧ మ

where ‫ܨ‬௩ is the reactionary vertical force. By substituting (6)

Fig. 3. Dynamic model parameters. into (7), one has:
Two five centimeters wheels are used for the under study two-
ௗ మ ൫ௗൈሺଵିୡ୭ୱ ௾ሻ൯
wheeled self-balancing robot. Arduino Mega 2560 is used as ‫ܯ‬ ൌ ʹ‫ܨ‬௩ െ ‫݃ܯ‬ (8)
ௗ௧ మ
the control board. Moreover, the GY-80 IMU is used for
controlling the tilt angle of the proposed robot. The gyroscope By considering ‫ܬ‬௦ as the proposed robot rotational moment of
and accelerometer sensors which are installed in the proposed inertia, one has:
IMU are applied to control the tilt angle of the proposed robot.
A L298 driver board is used for connecting the robot motors to ‫ܬ‬௦ ߙ ൌ  െʹሺ߬ ൅  ‫ܨ‬ு ‫ ߐ •‘… ܮ‬െ  ‫ܨ‬௩ ݀‫ߐ݊݅ݏ‬ሻ (9)
the Arduino board. Figure 1 illustrates the body structure of
two-wheeled self-balancing robot which is constructed for this
Due to the balance angle in IJ=0, two assumptions can be
project.
regarded as:
III. DYNAMICS MODEL •‹ ߐ ൎ ߐ (10)
The dynamic model of the proposed robot is calculated based
…‘• ߐ ൎ ͳ (11)
on Newtonian method [7, 8]. Assumptions which are
considered in this dynamics model can be regarded as:

314
 The back EMF voltage in (17) is:

‫ݒ‬௘ ൌ  ݇௘ ߱ (19)

Fig. 4. The proposed robot tilt angle transfer function step response.
where ݇௘ is the back EMF constant and Ȧ is the shaft angular
velocity. By considering (16), (17), (18) and (19), one has:
ோഓ
‫ ݒ‬ൎ  ൅  ݇௘ ߱ (20)
௞ഓ
Due to difference of angular velocity in ground coordinate and
the angular velocity which is measured by encoder, one has:

௫ሶ
߱௘ ൌ  (21)
௥

߱ ൌ  ߱௘ ൅  ሶ (22)

Fig. 5. The proposed robot displacement transfer function step response.

In (21) and (22), ߱௘ is the angular velocity which is measured
by encoder. By substituting (22) into (21), one has:
TABLE I. Control model parameters of the under study self-balancing robot.
௫ሶ
Symbols Parameters Value Unit ߱ ൌ ൅ ߠሶ (23)
௥
݉௦ Mass of robot 0.98 Kg
‫ܫ‬௦ Moment of inertia of robot 0.092 Kgଶ
Now, by substituting (23) in (20), one has:
݉௪ 0.083 Kg
‫ܫ‬௪ The wheel moment of inertia 0.000172 Kgଶ
ோഓ ௫ሶ
݇௘ Back EMF constant 0.813 ‫ݏݒ‬ ‫ ݒ‬ൌ ൅ ݇௘ ቂ ൅ ߠሶቃ (24)
‫݀ܽݎ‬ ௞ഓ ௥
݇ఏ Torque constant 0.68 ܰ݉
‫ܣ‬ By substituting (15) from dynamics model section in (23), one
r Wheel radius 0.05 M
has:
R Nominal terminal resistance 8.3 ȍ ோ ௃ ሺ௥ெ௔ା௥ௌఈሻ ௫ሶ
d Distance between center 0.07 M ‫ ݒ‬ൌ ቂ ೌ ൅ ‫ ܽ݉ݎ‬൅ ቃ ܽ ൅ ݇௘ ቂ ൅ ߠሶቃ (25)
of wheel and robot’s ௞ഓ ௥ ଶ ௥
center of gravity

By considering (10) and (11), (5), (8) and (9) are rewritten as: Now, by substituting (12), (13) and (15) in (14), one has:

ଶ௃
‫ܯ‬ሺܽ ൅ ݀ߙሻ ൌ ʹ‫ܨ‬ு (12) ሾ‫ܬ‬௦ ൅ ‫݀ܯ‬ሺ‫ ݎ‬൅ ݀ሻሿߠሷ ൅ ቂ ൅ ʹ‫ ݉ݎ‬൅ ሺ‫ ݎ‬൅ ݀ሻ‫ܯ‬ቃ ‫ݔ‬ሷ െ ‫ ߠ݀݃ܯ‬ൌ Ͳ
௥
(26)
‫ ݃ܯ‬ൌ ʹ‫ܨ‬௩ (13)
Now, tilt angle, Ԧ, and displacement, x, can be calculated as:
‫ܬ‬௦ ߙ ൌ  െʹሺ߬ ൅ ‫ܨ‬ு ‫ ܮ‬െ  ‫ܨ‬௩ ݀ߐሻ (14)
ሾ௃ೞ ାௌሺ௥ାௗሻሿఈ
ߠൌ మ಻ ݀‫ݐ‬ (27)
Now, by substituting (1), (12) into (2), one has: ቂ ାଶ௥௠ାሺ௥ାௗሻெቃ௔
ೝ

௃ ௥ெ ௥ௌ ெ௚ௗఏିሾ௃ೞ ାெሺ௥ାௗሻఈሿ

߬ ൌ ܽ ቂ ൅ ‫ ݉ݎ‬൅  ቃ ൅ ߙ ቂ ቃ (15) ‫ݔ‬ൌ‫׭‬ మ಻ (28)
௥ ଶ ଶ ାଶ௥௠ାሺ௥ାௗሻெ
ೝ
IV. CONTROL MODEL
V. TRANSFER FUNCTION MODEL
By considering IJ as motor torque and ݇ఛ as torque constant,
The proposed robot is driven by two coaxial motors. The
one has:
control system is based on the output of gyroscope and
߬ ൌ  ݇ఛ ‫ܫ‬ (16) acceleration transducers. Now, by substituting the values of
ௗ௜
Table I in (25) and (26), the system transfer functions are
‫ ݒ‬ൌ  ܴ௜ ൅ ‫ܮ‬ ൅  ‫ݒ‬௘ (17) achieved as follows:
ௗ௧
v = 0.3917‫ݔ‬ሷ + 0.0209ߠሷ+ 16.26‫ݔ‬ሶ + 0:813ߠሶ (29)
In (17), R is nominal terminal resistance, L is rotor inductance
and ‫ݒ‬௘ is back electromotive force (EMF) voltage. Equation 0.1002ሷ + 0.1328‫ݔ‬ሷ + 0.0960Ԧ = 0 (30)
(17) can be written as (18) because the electrical actions of According to (29) and (30), two transfer functions are
motors are faster than mechanical action: obtained. The first transfer function, ‫ܪ‬ଵ ሺ‫ݏ‬ሻ, is based on output
‫ ݒ‬ൎ ܴ௜ ൅ ‫ݒ‬௘ (18)

315
 Fig. 8. Step response of tilt angle transfer function with PID controller.
Fig. 6. Step response of tilt angle transfer function with PD controller.

Fig. 9. Step response of displacement transfer

t function with PID controller.
Fig. 7. Step response of displacement transfer function with
w PD controller.
Ԧ to input voltage and the second transfer function,
fu ‫ܪ‬ଶ ሺ‫ݏ‬ሻ, is
based on the proposed robot output displlacement to input
voltage:
ఏ ିଵ଻Ǥ଼ଵ௦
‫ܪ‬ଵ ሺ‫ݏ‬ሻ ൌ ൌ య మ (31)
௩ ௦ ାସଵǤହ଺௦ ିଷ଼Ǥ଴ହ௦ି
ିଶଷହଵǤଽଷ

ο ସǣ଴଻଻௦ మ ିଵସସǤଶ
ଶ
‫ܪ‬ଶ ሺ‫ݏ‬ሻ ൌ ൌ (32)
௩ ௦ ర ା଼ଽǤ଴ହ௦ య ିହ଺Ǥଶଶ௦ మ ିଶଷହଵǤଽଷ௦
ି

In (31) and (32), v and ο are definedd as voltage and

a input and οand
displacement, respectively. The v is applied as Fig. 10. The process of PID controller effect on the proposed robot.
Ԧ are applied as outputs parameters.
TABLE II. The effect of PD andd PID controllers on step response
VI. STATE SPACE MODEL characteristics of two-wheeled selff-balancing robot transfer functions.
Controller Rise Settling Overshoot Peak Time
Since the transfer functions describe the inpputs and outputs of Time Time
the model as a black box and they are not provide any PD(Tilt) 0 26.5397 Inf 0.0251
information about inner of the proposed system, the state PD(Displacement) 1.7055 3.0449 0 0.1093
space model is applied. By considering (29) and (30), one has: PID(Tilt) 2.2384 5.7360 0 0.8912
PID(Displacement) 1.5391 12.5536 43.7929 4.5644

‫ݔ‬ሷ = -44.66‫ݔ‬ሶ + 0.05487Ԧ – 2.232ߠሶ + v (33) 5 illustrate the step responses based on the under study two-
wheeled self-balancing robott transfer functions. The pole
ߠሷ= 59.193‫ݔ‬ሶ - 1.0307Ԧ+ 2.957ߠሶ- 1.422v (34) placements of tilt angle transsfer function are in, -41.9879,
0.2139+7.4812i and 0.2139-7.44812i and the pole placements
‫ݔ‬ ‫ݔ‬ሶ ͲͳͲͲ ‫ݔ‬ of displacement transfer fuunction are in, 0, -88.7151,
ௗ ‫ݔ‬ሶ ‫ݔ‬ሷ Ͳ െ ͶͶǤ͸͸ͲǤͲͷͶͺ͹ െ ʹǤǤʹ͵ʹ ‫ݔ‬ሶ -0.1674+5.1462i and -0.1674-5.1462i. There are some poles
቎ ቏ ൌ ൦ ሶ൪ ൌ ൦ ൪቎ ቏ ൅
ௗ௧ ߠ ߠ ͲͲͲͳ ߠ in right side of Ȧ-axis which made
m the system unstable.
ߠሶ ߠሷ ͲͷͻǤͳͻ െ ͳǤͲ͵Ͳ͹ʹǤͻͷ͹ ߠሶ
Ͳ VII. GENETIC ALGORITHM
ͳ
൦ ൪‫ݑ‬ (35) The Genetic Algorithm (GA A) is a powerful optimization
െͳ
heuristic searching algorithm m which is based on natural
െͳǤͶʹͷͻ genetic principles[9, 10]. The main
m steps of GA algorithm can
In order to design controller for the under study
s two-wheeled be regarded as follows:
self-balancing robot is applied the step respoonse and root locus 1) Initialize a random population;
diagrams which are based on the propossed robot transfer 2) Calculate the fitness population;
p
functions which are presented in (31) and (322). Figures 4 and 3) Select populations witth respect to the described rules;
4) Generate a new chromosome
c by making the
population selected inn certain probability;

316
 Table III. Fuzzy logic rules.
If e and ࢋሶሺ࢑ሻ then ࢑ǡ࢖ ࢑ᇱࢊ Į
NB NB BIG SMALL 2
NB NB BIG SMALL 2
NB NMID BIG SMALL 2
NB NS BIG SMALL 2
NB ZR BIG SMALL 2
NB PS BIG SMALL 2 Fig. 11. Fuzzy-PID controller applied on plant.
NB PMID BIG SMALL 2
NB PB BIG SMALL 2
NMID NB SMALL BIG 2
NMID NB BIG BIG 2
NMID NMID BIG SMALL 2
NMID NS BIG SMALL 2
NMID ZR BIG SMALL 2
NMID PS BIG BIG 2
NMID PMID BIG BIG 3
NMID PB BIG BIG 3
Fig. 12. The e(k) and ݁ሶሺ݇ሻ member functions.
NS NB SMALL BIG 4
NS NMID SMALL BIG 3
NS NS BIG BIG 3
NS ZR BIG SMALL 2
NS PS BIG BIG 3
NS PMID SMALL BIG 3
NS PB SMALL BIG 4
ZR NB SMALL BIG 5
ZR NMID SMALL BIG 4
ZR NS SMALL BIG 3 Fig. 13. The ݇௣ǡ and ݇ௗᇱ member functions.
ZR ZR BIG BIG 3
ZR PS SMALL BIG 3
ZR PMID SMALL BIG 4
ZR PB SMALL BIG 5
PS NB SMALL BIG 4
PS NMID SMALL BIG 3
PS NS BIG BIG 3
PS ZR BIG SMALL 2
PS PS BIG BIG 3
PS PMID SMALL BIG 3
PS PB SMALL BIG 4 Fig. 14. The Į member functions.
PMID NB SMALL BIG 3
After implementing the PD controller on the proposed robot a
PMID NMID BIG BIG 3
PMID NS BIG SMALL 2 slight vibration is appeared in the body of the robot and is fell
PMID ZR BIG SMALL 2 down after few seconds. In order to reduce the steady-state
PMID PS BIG SMALL 2 error of the proposed system an integrator controller is added
PMID PMID BIG BIG 3 to the designed PD controller. Figures 8 and 9 illustrate the
PMID PB SMALL BIG 3 PID effect on the tilt angle and displacement transfer
PB NB BIG SMALL 2
PB NMID BIG SMALL 2
functions, respectively. Figure 10 represents the process of
PB NS BIG SMALL 2 PID controller effect on the proposed robot. TABLE II the
PB ZR BIG SMALL 2 effect of PD and controller on step response characteristics of
PB PS BIG SMALL 2 two-wheeled self-balancing robot transfer functions.
PB PMID BIG SMALL 2
PB PB BIG SMALL 2 IX. FUZZY-PID CONTROLLER
5) Investigate the optimal conditions until the maximum In order to calculate the high performance controller the
iteration is reached and get the minimum values if they
proposed designed PID controller is tuned with Fuzzy
provide conditions;
logics[11]. Figure 11 represents how schematically the Fuzzy-
VIII. CONTROLLER DESIGN PID controller is applied on the plant. The Fuzzy-PID
controller which is designed for the proposed robot is based on
By considering the transfer functions pole placements, the PD the Fuzzy gain scheduling of PID controller [12] method.
controller is designed to shift the poles to the left side of Ȧ- Figure 12 represents the membership function of e(k) and ݁ሶ (k)
axis by adding zero to the system. Figures 6 and 7 illustrate which are defined as error between the reference and the
the effect of PD controller on tilt angle and displacement process output and the first difference of the two latter. Figure
transfer functions, respectively. 13 illustrates the ݇௣ᇱ and ݇ௗᇱ membership functions and Fig. 14
represents the Į member function. The Fuzzy rules which are
. used for tuning the ݇௣ , ݇௜ and ݇ௗ can be regarded as Table III.

317

Fig. 15. Fuzzy surfaces.
Fig. 16. The step response of the rolling angle which is controlled with PID
and Fuzzy-PID controllers.
Fig. 17. The step response of the rolling angle which is controlled with PID
and Fuzzy-PID controllers.
Fig. 18. The process of Fuzzy-PID controller effect on the
t proposed robot.
In the proposed Fuzzy rules PB, PMID, PS S, ZR, NS, NMID
and NBIG are defined as positive big, positive medium,
positive small, zero, negative small, negaative medium and
negative big, respectively. Figure 15 illustrattes the Fuzzy logic
surfaces which are designed based on the Fuzzy rules. Figure
16 and 17 represent the process of Fuzzy-PID D controller effect
on the proposed robot. As shown in Fig. 18, the stable-ability
and balance-ability of the proposed roboot is significantly
improved and the effect of external forces on the robot is
reduced.
318
X. CONC
CLUSION
In this paper, three controllers were implemented on a self-
balancing robot which was coonstructed for this projects and
the experimental results of them were compared. Two
optimization methods were used u to optimize the designed
controllers which were presennted in this paper. The PD and
PID controllers were designedd based on the pole placement
method. The Genetic algorithm m was used for optimizing the
PD and PID controller parametters. After implementing the PD
controller on the under studdy two-wheeled self-balancing
robot, a slight vibration was apppeared on the body of robot and
it fell down after few seconds because
b the steady-state error of
system was increased. In orderr to reduce the steady-state error
a pole was added to the syystem, then the designed PD
controller was developed to thhe PID controller. The proposed
PID controller which was impllemented on the proposed robot,
made it stable and reduced thee robot body vibration, but after
applying the external force on the robot body, it fell down. In
order to improve the PID perfformance, the parameters of the
proposed controller was tuned with Fuzzy logics. The Fuzzy-
PID controller were used to reeduce the external forces effect
on the balance-ability of the under study two-wheeled self-
balancing robot. After implemeenting the Fuzzy-PID controller
on the proposed robot, the staable and balance ability of the
proposed robot was improved and a the effect of external forces
were significantly reduced. As ongoing work, the under-study
self-balancing robot structure which was presented in this
paper will be developed and thhe model predictive control will
be used to achieve a better stable ability and movement
performance.
Referrences
[1]M. Kumagai, T. Ochiai, Developm ment of a robot balancing on a ball, in
Proceeding of, 433-438.
[2]A. Kwok Wai, X. Yangsheng, Deecoupled dynamics and stabilization of
single wheel robot, in Proceeding off, 197-203 vol.1.
[3]M. H. Khan, M. Chaudhry, T. Tariqq, Q. U. A. Fatima, U. Izhar, Fabrication
and modelling of segway, in Proceeeding of, 280-285.
[4]T. Nguyen Gia Minh, N. Duong Hoai, P. Nguyen Huu, A PID backstepping
controller for two-wheeled self-balaancing robot, in Proceeding of, 76-81.
[5]W. Junfeng, L. Yuxin, W. Zhe, A robust control method of two-wheeled
self-balancing robot, in Proceeding of, 1031-1035.
[6]T. Ching-Chih, H. Hsu-Chih, L. Shui-Chun, Adaptive Neural Network
Control of a Self-Balancing Two-W Wheeled Scooter, Industrial Electronics,
IEEE Transactions on, Vol. 57, No. 4, pp. 1420-1428, 2010.
[7]B. He, Z. Liu Wen, F. Lv Hai, Thee Kinematics Model of a Two-Wheeled
Self-Balancing Autonomous Mobbile Robot and Its Simulation, in
Proceeding of, 64-68.
[8]P. Kui, R. Xiaogang, Z. Guoyu, Dyynamic model and balancing control for
two-wheeled self-balancing mobile robot on the slopes, in Proceeding of,
3681-3685.
[9]J. Zhang, J. Zhuang, H. Du, Self-orgganizing genetic algorithm based tuning
of PID controllers, Information Sciiences, Vol. 179, No. 7, pp. 1007-1018,
2009.
[10Q. Zhang, Q. Jia, H. Sun, Z. Gonng, Application of a genetic algorithm-
based PI controller in a spherical robot,
r in Proceeding of, IEEE, pp. 180-
184.
[11]J. Wu, W. Zhang, Design of fuzzyy logic controller for two-wheeled self-
balancing robot, in Proceeding of, IEEEE, pp. 1266-1270.
[12]Z. Zhen-Yu, M. Tomizuka, S. Isaka, Fuzzy gain scheduling of PID
controllers, in Proceeding of, 698-7003 vol.2.