The Goal of Balancing

Balancing the robot over short intervals is best done using machine learning. But, balancing the robot over longer intervals works better using nonholonomic motion planning. In other words, the control system must be robust over long windows of time, anti-fragile over short ones.
Now that the goal of balancing on a wheel is accomplished, it’s time to add to the definition of the cost function the amount of energy consumed to balance the robot. Right now, a considerable amount of energy is radiated out of the robot as waste (on the order of a few Watts).
How Does A Self-Balancing Robot Work Mathematically?
• How Does A Self-Balanc...