TY - JOUR N2 - A low–cost measurement system using filtering of measurements for two–wheeled balancing robot stabilisation purposes has been addressed in this paper. In particular, a measurement system based on gyroscope, accelerometer, and encoder has been considered. The measurements have been corrected for deterministic disturbances and then filtered with Kalman, a–b type, and complementary filters. A quantitative assessment of selected filters has been given. As a result, the complete structure of a measurement system has been obtained. The performance of the proposed measurement system has been validated experimentally by using a dedicated research rig. L1 - http://www.czasopisma.pan.pl/Content/122539/PDF/BPASTS_2022_70_2_2561.pdf L2 - http://www.czasopisma.pan.pl/Content/122539 PY - 2022 IS - 2 EP - e140518 DO - 10.24425/bpasts.2022.140518 KW - estimation KW - filters KW - measurement filtration KW - measurement system KW - two-wheeled balancing robot A1 - Laddach, Krzysztof A1 - Łangowski, Rafał A1 - Zubowicz, Tomasz VL - 70 DA - 04.03.2022 T1 - Estimation of the angular position of a two–wheeled balancing robot using a real IMU with selected filters SP - e140518 UR - http://www.czasopisma.pan.pl/dlibra/publication/edition/122539 T2 - Bulletin of the Polish Academy of Sciences Technical Sciences ER -