Nonlinear control of a one-dimensional self-balancing system with an inertia wheelBoršić, Marko (Avtor) Sarjaš, Andrej (Mentor) modelinginertia wheelbacksteppingstate spacesliding modeThe master’s thesis describes the development of a one-dimensional self-balancing system with an inertia wheel. The plan was to establish all the theoretical knowledge that was gathered throughout the process of studying at the University and to finish the practical model which has the ability to balance in one dimension. The paper contains a description of constructing the mechanical part of the pendulum, developed in SolidWorks software. It also contains the execution of the mathematical model of the inverted pendulum. The simulation was conducted in Matlab/Simulink software. Based on the results of the simulation, the design of the controller for the EC motor was made. Designed controllers and measured data required for the active balance of the system were implemented on the microcontroller STM32F4. To measure the angle and angle velocity, the gyroscope and accelerometer on the MPU6050 sensor were used. The results of the simulation and of the practical model are presented in this paper.M. Boršić20192019-03-14 11:31:03Magistrsko delo/naloga73260UDK: 007.52(043.2)COBISS_ID: 22239254NUK URN: URN:SI:UM:DK:5QZX0NT8sl