This is a simple 2-wheel balancing robot. I did this project to get more familiar with LQR-Control. I implemented a PID first and compared it to the LQR’s performance. I wanted to implement an MPC, but it turned out to be too computationally demanding for the ESP8266 used in the project. I’m currently upgrading the hardware, in order to allow more sophisticated control strategies as well as wireless control of the systems states.
