The documents attached discusses a first model usable for Control design within myRIO Balancing Robot project.
The document (myRIO Maths Draft v05.pdf) discusses the Mathematical model for myRIO Balancing Robot. Chapters 1-3 discuss the general model for the robot (Geometry, Dynamics)
The mathematical model for an inverted pendulum with one degree of freedom is developed using Lagrange and Laplace formalisms. (myRIO Maths DRAFT v0.5.pdf, Chapters 4-7)
The VI used for the simulation of the presented models is attached as well. (PendulumSimulation.vi)
Furthermore the document Lukas Kurmann is working on is attached (Segway V0.7.docx), as well as the Mathematica Simulations we did (SegwayV0.9.pdf)