Balancing Control of Two-Wheel Bicycle Problems

Table 1

The parameters of the self-balancing two-wheel bicycle.

Parameters	Value	Unit
	0,1105	kg·m^2
	0,105	M
	0,03289	kg·m^2
	0,205	M
	10,024	kg
	3,976	kg
	0,045	V·s/rad
	0,045	Nm/A
	0,52	Ω
	1 : 1
	9,81	m/s^2