Zumo Segway’s Documentation

• Introduction
• Zumo32u4
  • Inertial Management Unit
  • Motors
  • Encoders
• Segway Model
  • System’s dynamics equations
  • Model Adaptation
  • Input Adaptation
  • State Variable Model
• LQR Controller Design
  • Physical parameters
  • Model
  • Controllability
  • Observability
  • Control Law
  • Controller Simulation
  • Further Features
• Controller Implementation
  • SegwayLQR
  • LQR