  The Segway is a popular self-balancing two-wheeled vehicle. In this paper, we
present a control mechanism for the planar Segway problem. The open-loop
analysis validates the fact that the system is unstable by default and there is
a need to design a closed-loop feedback to establish control for the system.
This has been done by implementing a PD controller for the multiple-output
system. Since the kinematic equations of the system are non-linear initially,
the controller has been designed by linearizing the equations about the
equilibrium point. Later, the response of the non-linear system is examined
using the designed controller.
