  A low-cost measurement system using filtering of measurements for two-wheeled
balancing robot stabilisation purposes has been addressed in this paper. In
particular, a measurement system based on gyroscope, accelerometer, and encoder
has been considered. The measurements have been corrected for deterministic
disturbances and then filtered with Kalman, $\alpha$-$\beta$ type, and
complementary filters. A quantitative assessment of selected filters has been
given. As a result, the complete structure of a measurement system has been
obtained. The performance of the proposed measurement system has been validated
experimentally by using a dedicated research rig.
