| Abstract: |  The aim of this thesis is to stabilize a single-track mobile robot in a vertically upright position while the robot is in motion as well as while it is motionless.
This system is modeled using a MATLAB Simulink environment and applied to a real system built with a help of LEGO Mindstorms building kit.
In the first section of the thesis a lateral stabilizating model and a planar model of motion are described with all the derivations.
Further, the real system is presented with a description of a construction, an identification and the limitations linked with the LEGO Mindstorms building kit and the LEGO sensors. The comparison of the real and identified systems is also a necessary part of this section.
The final section is indicative of a real model control description and a real measured data presentation. The real measured data is realized on the built single-track mobile robot.
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