Bicycle is a ROOIBOS CHAI conventional vehicle and it cannot self-balance.An equivalent model is required to be supplied in order to base a control structure for this under-actuated system.Thence, in this paper, authors infer a balancing model of bicycle which is based on re-action wheel pendulum (body of the model can be regarded as a pendulum).PD controller, a popular linear control method, is examined for this model.A structure Apparel Fabric by the Yard of this control method is designed for this under-actuated system.
Then, through trial and error test, a set of control parameters are selected.In both simulation and experiment, PD controller is proved to stabilize bicycle well.