The wheeled inverted pendulum is a nonlinear inverted pendulum attached to a wheel rolling without slipping on the floor. In this post, we review the assumptions that define it, derive its equation of motion ℓθ¨=gsin⁡(θ)−r¨cos⁡(θ),\def\bfA{\boldsymbol{A}} \def\bfB{\boldsymbol{B …