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The problem of PID type controller tuning has been addressed in this paper.In particular, a method of selection of PD settings based on the solution oflinear-quadratic optimisation problem using the energy criterion has beeninvestigated. Thus, the possibility of transforming optimal settings of thelinear-quadratic regulator into the settings of the controller in the classicalcontrol system has been given. The presented methodology has been used duringsynthesis of control system for a two-wheeled balancing robot. Finally, theperformance of the proposed control system has been validated by simulation inMatlab-Simulink environment with the use of a two-wheeled balancing robotmodel.

A selection of PID type controller settings via LQR approach for two-wheeled balancing robot