A Self-Balancing Robot implemented with PID and LQR controller.
The goal of this project is to build a two-wheeled robot capable of self-balancing. The intrinsic instability of the robot is compensated using a control implemented on the STM32 microcontroller. Two strategies have been adopted to obtain the control action: PID control and LQR control. The entire code is written using the STM32 Cube IDE using the HAL and CMSIS libraries.