FURI | Fall 2020

Design, Modeling, and Control of a Single-Axis Self-Balancing Platform

Microelectromechanical Systems (MEMS) Inertial Measurement Units (IMUs) are electronic devices that use a combination of at least an accelerometer and a gyroscope to measure position and orientation. The objective of this project was to design, construct, model, and control a simple single-axis self-balancing platform for the purpose of testing and comparing methods for modeling sensor and system dynamics as well as methods for designing and discretizing control systems for an unstable system. These findings will be used to more effectively design a system for the controlled ascent of a rocket.