  A Laboratory device is designed to emulate the Segway motion, modifying the
Furuta pendulum experiment. To copy the person on the Segway transportation
unit to the Furuta pendulum, a second pendulum is added to the main one. Using
LMI theory, the control objective consists to manipulate the base of the Furuta
pendulum according to the inclination of the added pendulum whereas the coupled
pendulums are maintained near to theirs upright positions. According to the
inclination of the second pendulum, the base will rotate as long as the second
pendulum remains inclined, emulating the Segway behavior. The base rotation
will depend on the side of the inclination too. Experimental results are
offered too (video link: http://youtu.be/SHQdW3k3qiE).
