I’ve had a few requests for this link. It was buried in a long vex pendulum thread so I have reposted it here:
https://vexforum.com/local_links.php?catid=6
Scroll to the bottom of this link.
Feel free to use it and please provide any corrections or comments to me.
Key Words: Balance robot pendulum gyro matlab simulation octav accelerometer inverted tilt angle complementary filter