This paper studies the mathematical model of the object "inverted pendulum" on the example of the unstable electromechanical device -balancing robot on the wheel pair. The paper gives the results of analysis of the impact of many real control object properties on the system performance. Among them the most important ones are the actuator, filters, friction and the tendency to fluctuations.

This paper performs determination of a mathematical model of the balancing robot, its linearization and algorithm for calculation of stabilization of the deflection angle from the vertical modal method. This algorithm also makes determination of the angle of deviation from the use of either alpha-beta filter and the angle of rotation of the wheels by means of encoders.

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