SIMULINK | Making a Lego Segway balance on its own two wheels using a gyroscope | PI-controller, help!

The concept is to make it balance (stand) on its own by the use of a gyroscope. I want to build a PI-controller doing this: So, if the lego segway is falling forward, I want it to move forward to "catch the robot"; same if its falling backwards, I want it to move backwards to "catch the robot". I understand what I want to do, but I am struggling to build this in Simulink. Can anyone help/explain how to approach this?

Answer 1

[Mischa Kim]

Hello Steffen-Andre,

there are several entries in File Exchange that should help you get started, see here.

[Steffen-Andre Jensen]

I have been looking at the File Exchange already a few times but I havent found anything that helps my problem. Maybe I'm just bad at searching! Thanks anyway