摘要：A self-balancing robot is a mobile robot that has two wheels on the right and left sides which will not balance if it is not controlled. This study aims to design a control system that can balance the self-balancing robot. The system used as input is from the MPU6050 sensor, and the output from the sensor in the form of a tilt angle will be processed using a microcontroller. The angle obtained will be compared with the setpoint value which is 0 degrees. The difference between the setpoint and the system output angle is controlled using PID control. For the output from the PID to be more stable, it will be filtered using a Kalman filter. Analysis of calculations using MATLAB software to make it easier to analyze the response of the self-balancing robot that has been given the values of Kp, Ki, and Kd. From the test results, it is obtained that the PID controller parameters that will be used from tunning the Kcr value with the Ziegler-Nichols method are Kp = 5.67, Ki = 85.5 and Kd = 0.0004 can overcome the balance in the self-balancing robot approaching the setpoint value with an angle range between -3º to 3º.
