I have made some simulations in Matlab Environment for a specific second-order transfer function. and also Simulated a Two Wheel Self Balancing Robot solution.
for the given TF, I have written a simple state space. then checked observability, controllablity etc. and made some observations, tracking and state feedback gain to reach my setpoint. and also tested my controller for disturbance effect.
The main job was to simulate the linear model of a solution to the task and also compare it with the nonlinear model. but after this I implemented another state space which was more reachable and easy to implement to a real robot which I have had built recently and controlled it whith a PID block. in this repisotory: https://github.com/TWSBR/TWSBR
#PID model
#LQR model
