Control of a Nonlinear and Linearized Model of Self-balancing Electric Motorcycle

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)


Self-Balancing Electric Motorcycle (SBEM) is a dynamic and nonlinear electromechanical system. In this paper, the process of mathematical modelling and linearization of SBEM is presented. The model of the control system in Matlab environment is implemented. The control system using the PID controller is designed. The operation of particular structures of the PID controller on the simulation model is compared. Due to simulation research, the most appropriate structure and parameters of the PID controller are chosen.


PID controller Control system Mathematical modelling Self-balancing Electric Motorcycle 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Faculty of Electrical and Control EngineeringGdańsk University of TechnologyGdańskPoland

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