Abstract
Recently, the technique of the model-based development (MBD) has come to be used widely on the site of the embedded system development. In the present study, we propose the model-based development of the embedded system using Scilab/Scicos. As an instance of applying we tried the stabilizing control for the two-wheeled inverted pendulum by state feedback control. For that purpose we modeled the plant, designed control system, and simulated control response. The control program was generated from the designed feedback control system automatically, and we downloaded it to LEGO Mindstorms NXT. As a result of the experiment, we obtained stable execution result. Finally, we confirmed that proposed method was useful and that it is effective.
