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A low-cost measurement system using filtering of measurements for two-wheeledbalancing robot stabilisation purposes has been addressed in this paper. Inparticular, a measurement system based on gyroscope, accelerometer, and encoderhas been considered. The measurements have been corrected for deterministicdisturbances and then filtered with Kalman, $\alpha$-$\beta$ type, andcomplementary filters. A quantitative assessment of selected filters has beengiven. As a result, the complete structure of a measurement system has beenobtained. The performance of the proposed measurement system has been validatedexperimentally by using a dedicated research rig.

Estimation of the angular position of a two-wheeled balancing robot using a real IMU with selected filters