  Cyber-physical systems, also known as CPS, is an emerging field of technology
that combines the physical and digital worlds by allowing for seamless
interaction and communication between the two. One of the key characteristics
of a CPS is its ability to take input from its environment and use that
information to produce an output through actuators in the physical world. A
balancing robot is a prime example of a CPS, as it uses input from its sensors
to continually monitor its orientation and take action to prevent falling over
by generating thrust through its wheels or manipulating its inertia. In this
specific project, a two-wheel self-balancing robot was developed, utilizing the
concept of a reverse pendulum. A reverse pendulum by default is inherently
unstable and requires an external force to maintain its balance. In this case,
the balancing robot produces this external force through the use of wheels and
motors. To achieve precise balancing, stepper motors were utilized in the
design of the robot. Additionally, the robot has the capability to move in four
basic directions and the movement is controlled through an app connected to the
robot via Bluetooth. This allows for remote control and monitoring of the
robot's movements and actions. Overall, the development of this two-wheel
self-balancing robot serves as a demonstration of the potential and
capabilities of cyber-physical systems technology.
