Lego Segway.zip

There are two files:
Run kalmandesign3.m first to generate a linear state space model of the plant, design a Kalman filter to estimate the states from the gyro, accelerometer, and wheel encoders, and design a full state feedback controller.

Then use NXT_segway_kalman3.mdl to generate code that can be embedded onto the NXT using the NXT target.

In order to get this to work you will first have to install support for the NXT target:

http://www.mathworks.com/help/simulink/ug/install-target-for-lego-mindstorms-nxt-hardware.html

See the video of this working:

http://youtu.be/pOOPFw959Rw