Hello guys, i am quite new here.

I am working on a 2wheel inverted pendulum project, ive already built the mathematical model with the quite accurate parameters. I would like to use gyro and accelerometer for tilt measurement (estimation), i already chosed the sensors, but i have to choose also the lowpass filter capacitor at the outputs, and for that i have to know the bandwidth of the pendulum.

My (could be silly) question is:

1: How can i calculate the bandwidth of my invpendulum by the use of the robot parameters? Or any other way?

Also i have another question block:

I want to simulate the behavior of the accelerometer in simulink. For that i already tried to set up the three-axis accelerometer block, but in three settings i am not sure:

2a: Natural frequency, what should i put there? because in the datasheet of the sensor i did not find this (i am using ADXL103)

2b: here i want to cite first the document i used for mathematical model:

http://www.pages.drexel.edu/~dml46/Tutorials/BalancingBot/files/NXTway-GS%20Model-Based_Design.pdf- Shall i use for the "Ab" input the acceleration vector dd/dt [xb,yb,zb] or the vector dd/dt [xm,ym,zm]?

- is it OK if i use for the "omega"input the d/dt [0, psi, fi]?

Thank you very much for your help in advance.

Waiting for the replies.

Regards, Feri

Now i want to choose