Design of LQR-PI and MPC controllers for pitch control of a ballbot

Edwin Paul Mocherla, Winston Netto

Research output: Contribution to journalArticlepeer-review


A statically stable robot may or may not generally be dynamically stable. A multi-wheeled robot, although statically stable, dynamically may become unstable in highly inclined surfaces. Therefore, they need to have a low center of gravity and a wide base. Alternatively, a self-balancing 2-wheeled platform must yaw about its axis to travel in a desired direction. A single-wheeled robot however can move directly, without yawing, in any direction instantaneously. This paper presents a planar mathematical model and the controller design for a ball-bot system. Two controller techniques, viz., LQR-PI and MPC are designed to stabilize the Ball-bot. Comparison study based on the performance of the system with these two controllers are also done.

Original languageEnglish
Pages (from-to)877-885
Number of pages9
JournalInternational Journal of Mechanical Engineering and Technology
Issue number5
Publication statusPublished - 01-05-2017

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Mechanics of Materials


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