Self balancing robot

Simulink model for an inverted pendulum (self balancing robot) with disturbance rejection.

This simulink file models a self balancing robot with disturbance rejection.

Disturbances are in the form of a push force and tiny forces that mimics real life environment disturbance.

Double click on the disturbance block to enter the magnitude of the push force (positive or negative floating point number), enter the time the force is applied and the magnitude of the environmental disturbance.

The magnitude of the environmental disturbance should be kept at less than 3 (N) for results that mimic close to real life environmental disturbance.

Push force greater than 30(N) will throw the robot into instability.