Control Theory of The Self-balancing Unicycle
To first order, a self-balancing unicycle can be considered as a non-linear control system similar to that of a two-dimensional inverted pendulum with a unicycle cart at its base: however, there are many higher-order effects involved in modelling the full system. Rotation of the drive wheel itself can provide control in only one dimension (i.e., forwards and backwards): control in other dimensions generally requires other actuators, such as auxiliary pendulums, reaction wheels, or control moment gyroscopes attached to the main unicycle pendulum.
Read more about this topic: Self-balancing Unicycle
Famous quotes containing the words control and/or theory:
“Time in the hand is not control of time,
Nor shattered fragments of an instrument
A proof against the wind; the wind will rise,
We can only close the shutters.”
—Adrienne Rich (b. 1929)
“No one thinks anything silly is suitable when they are an adolescent. Such an enormous share of their own behavior is silly that they lose all proper perspective on silliness, like a baker who is nauseated by the sight of his own eclairs. This provides another good argument for the emerging theory that the best use of cryogenics is to freeze all human beings when they are between the ages of twelve and nineteen.”
—Anna Quindlen (20th century)