The control algorithm that was used to maintain it balance on the autonomous self-balancing two wheel robot was the PID controller. The proportional, integral, and derivative (PID) controller, is well known as a three term controller. The input to the controller is the error from the system.
1. Arduino UNO
2. MPU6050 gyro+accelerometer breakout board.
3. L298N driver module
4. 2 x Geared DC Motor+wheels
5. Three platforms (PCB, acrylic, or thick plastic)
6. Posts to hold the platforms
7. Jumper wires
9. Battery Pack