📌 Overview

A complete MATLAB simulation of a Wheeled Inverted Pendulum (self-balancing robot) featuring nonlinear dynamics, cascaded PD control, real-time animation, and high-quality video export. Built for control systems learning, robotics projects, and academic use.

📦 What’s Included

• ✔ Full nonlinear WIP dynamic model (dynamics.m)
• ✔ Cascaded PD controller (position + balance control)
• ✔ RK4 numerical solver for accurate simulation
• ✔ Real-time 2D animation (wheel + pendulum visualization)
• ✔ Automatic MP4 video generation (60 FPS, high quality)
• ✔ Complete MATLAB script (ready to run)
• ✔ System parameter configuration (mass, inertia, friction, etc.)
• ✔ Post-simulation plots:
  • Position
  • Angle
  • Velocity
  • Angular velocity
  • Control torque

⚙️ Key Features

• Nonlinear physics-based modeling
• Dual-loop (cascaded) control system
• Torque and angle saturation handling
• Smooth and stable simulation (RK4)
• Professional visualization and animation

🎯 Applications

• Self-balancing robot simulation
• Control systems coursework
• Robotics & mechatronics projects
• Final Year Projects (FYP)
• MATLAB-based research

💻 Requirements

• MATLAB (R2018 or later)

🚀 Outcome

Understand and implement:

• Nonlinear system dynamics
• Cascaded control design
• Real-time robotic simulation in MATLAB