Thread: Balancing Robot Motor - Inverted pendulum equation

Hi,
I'm a mechanical engineering student and I'm building a balancing robot. I would like to select wisely my motors(torque and speed), but I'm having a hard time to understand and apply the inverted pendulum equations. Could someone help me?
Thanks everyone!

For people interested, I found this really well done report of a mindstorm balancing bot. The PDF covers pretty much everything. NXTway-GS (Self-Balancing Two-Wheeled Robot) Controller Design - File Exchange - MATLAB Central