JOE : A mobile, Inverted Pendulum
Felix Grasser, Antonio D’Arrigo, S. Colombi, Alfred C. Rufer · 2001
(EPFL) in Lausanne has built a prototype of a revolutionary two-wheeled vehicle. Due to its configuration with two coaxial wheels, each of which is coupled to a DC Motor, the vehicle is able to do stationary U-turns. A control system, made up of two decoupled state space controllers, pilots the motors so as to keep the system in equilibrium. See