本論文主要是設計一台雙輪倒單擺車，使用AVR晶片ATmega328做為控制核心以及直流輪轂馬達做為驅動動力源。透過陀螺儀與加速度計回授車體傾斜角與傾斜角速度，使用旋轉編碼器量測輪轂馬達轉速與行程，並採用靴帶電路設計H橋驅動器驅動輪轂馬達。此雙輪倒單擺車具有手把機構，透過一電位計傳送手把左右擺動之資訊使馬達產生差速，達到車體轉向之功能
控制器部分採用不需要模型且具有高強健性的模糊滑動控制器(FSMC)，以及比例-微分(PD)控制器。並於傾斜角度、傾斜角速度回授加入灰色預測模型，預測未來狀態。經實驗結果證明，使用灰色預測模型能使系統抑制高頻振盪的幅度，搭配PD控制器或FSMC控制器成功使系統得到穩定的平衡控制。

A two-wheeled inverted pendulum (TWIP) vehicle system is constructed. The control kernel is a microcontroller-ATmega328. The DC hub motor is employed for motion actuating and balancing. Both accelerometer and gyroscope sensors are used to measure the tilt angle and angular velocity of the inverted pendulum, respectively and two encoders are used to measure the rotation speed of motors. The H-bridge driver combined with bootstrap circuit is designed to drive the DC hub motor. The motion direction of TWIP can let change based on the signal of a handle bar on TWIP.
Since the accurate dynamic model of this TWIP vehicle is difficult to establish, the model-free and robust fuzzy sliding model controller (FSMC) and proportional-derivative (PD) controller are chosen for controlling this system. Gray prediction model (GPM) is employed to predict the future state of the tilt angle and angular velocity. The experiment of results show that the GPM could improve the high frequency vibration situation and the FSMC and PD controller can successfully control the TWIP system motion stability .

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