Lego Mindstorm NXT self balancing robot

Lego Mindstorm NXT are a great platform for many things such as games, education etc.

In the following I will described my adventures with the standard LEGO Mindstorm NXT package + a Gyro from hitechnic and MATLAB 2007b.
The quick guide is to download the wonderful package NXTway_GS and follow the instructions there. In what follows I am trying to explain the basic technologies used in NXTway_GS.

The long term goal of the project is to examine the possibilities of using LEGO Mindstorms as a way to teach Linear/Fuzzy Control. The short term goal is… to have fun.

So I need two or three “classical” case studies. The first thing that came in my mind is the inverted pendulum problem, or in this case the more interesting self-balancing robot problem. But first things first.

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