We show the responses of NXTway-G in experiments and discuss the performance of the control system of NXTway-G.

 

    The figure below shows the steady state response of NXTway-G for the wheel angle reference = 0(rad/s).

    From the plots of the body angle and the wheel angle, we see that responses of these angles had values around 0(deg/s). This result means the control system of NXTway-G achieves self-balancing around the specified position since the wheel angle corresponds to the position of NXTway-G.

 

   Then we show the transient responses of NXTway-G in the figure below.

In the plot of the wheel angle, solid line denotes the wheel angle response whereas the dashed line denotes the reference for the wheel angle.

    The response of the body angle shows the control system of NXTway-G achieved the self-balancing in the transient response. This means the control system has good self-balancing performance. While, since the response of the wheel angle tracked its reference, we see the control system has good tracking performance for the position reference.