Summary: I know that in order to keep inverted pendulum balanced when it leans forward, I should accelerate the bottom of it, but what is the force which is applied to center of mass of the pendulum with balances torque due to gravity? Is it inertial force? We assume that our inverted pendulum...
They were stated above- L is the distance of center of mass of the system from the axis of rotation of wheels, M is the mass of person and segway combined.
The torque applied to the center of mass due to gravity is equal to
T=M*g*sin(a)*L
The only force which could balance the torque might be inertial force due to accelerating wheels.
Fb=-MA
A-acceleration
cos(a)*Fb*L+T=0
M*g*sin(a)*L - cos(a)*M*A*L=0
A=g*tan(a)
For me it is suspicious and...