  The inverted pendulum is a non-linear unbalanced system that needs to be
controlled using motors to achieve stability and equilibrium. The inverted
pendulum is constructed with Lego and using the Lego Mindstorm NXT, which is a
programmable robot capable of completing many different functions. In this
paper, an initial design of the inverted pendulum is proposed and the
performance of different sensors, which are compatible with the Lego Mindstorm
NXT was studied. Furthermore, the ability of computer vision to achieve the
stability required to maintain the system is also investigated. The inverted
pendulum is a conventional cart that can be controlled using a Fuzzy Logic
controller that produces a self-tuning PID control for the cart to move on. The
fuzzy logic and PID are simulated in MATLAB and Simulink, and the program for
the robot is developed in the LabVIEW software.
