Self-Balancing Two-Wheel Robot Using PID & IMU

Problem statement

Balancing an inverted pendulum is a classical problem in control systems engineering. Creating a stable two-wheel robot is challenging due to continuous corrections required to maintain balance.

Abstract

This robot uses an MPU6050 IMU to measure angular tilt. The data is filtered using a complementary or Kalman filter. A PID controller calculates the required motor speed to counteract tilt in the opposite direction. The system remains upright and can move forward/backward without falling.

Components required

• MPU6050 IMU Sensor
• Arduino / ESP32
• Motor Driver (L298N)
• DC Motors
• Battery Pack

Block diagram

Working

IMU measures tilt → angle estimated → PID calculates correction → motor driver adjusts wheel speed to stabilize the robot. Continuous feedback maintains balance.

Applications

• Control system research
• Robotics competitions
• Segway-like personal transport systems