Format for Cover and front page (should be CENTER ALIGNED)

2-Blank spaces

A PROJECT STAGE I REPORT ON(12/bold/upper case)

(Two blank spaces)

<<PROJECT TITLE>>(16/bold/upper case)

(Two blank spaces)

SUBMITTED TO THE SAVITRIBAI PHULE PUNE UNIVERSITY, PUNE (12/upper case)

IN THE PARTIAL FULFILLMENT FOR THE AWARD OF THE DEGREE (12/upper case)
(One blank space)
OF(12/upper case)
(Two blank spaces)

BACHELOR OF ELECTRICAL ENGINEERING

IN
<<NAME OF DEPARTMENT>>(16/bold/upper case)
(Two blank spaces)

BY(14/bold/upper case)
(Two blank spaces)

<<Name of Student 1(Alphabetical Surname first) >><<Examination Seat No. :

1>>(14/bold/upper case)
<<Name of Student 2 >><<Examination Seat No. : 2 >>
(Two blank space)

UNDER THE GUIDANCE OF(14/bold/upper case)

<<Guide Name>>(14/bold/upper case)

DEPARTMENT OF ELECTRICAL ENGINEERING

K.K.WAGH INSTITUTE OF ENGINEERING EDUCATION AND RESEARCH, HIRABAI HARIDAS
VIDYANAGARI, PANCHAVATI, NASHIK 422003

i
2024-25

ii
 FORMAT OF CERTIFICATE
(six blank space)

CERTIFICATE
(16/bold/upper case)
(Three blank space)

This is to certify that the Project Stage I Report entitled (12 /sentence case)
(Two blank space)

<<PROJECT TITLE>>
(12/bold/upper case)
(Two blank space)

Submitted by (one line blank space)

Name of Students as per Cover Page

<<Name of Student 1 >><<Examination Seat No. : 1>>(12/title case)
<<Name of Student 2 >><<Examination Seat No. : 2 >>

(Three blank space)

is a bonafide work carried out by them under the supervision of Prof.
__________________________ and it is approved by me for the partial fulfillment of the
requirement of Savitribai Phule Pune University for the award of the Degree of Bachelor of
Electrical Engineering (Name of Programme) Academic Year: 2021-22
(12/ sentence case)
(Two blank space)

This project report has not been earlier submitted to any other Institute or University for the
award of any degree or diploma. (12/ sentence case)

<<Name >> <<Name >>

Internal Guide Head of Department
<<Name of Department>> << Name of Department>>

<<Name >>
External Examiner

Date :
Place:Nashik

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 FORMAT OF CERTIFICATE (for Sponsored Project)

(six blank space)

INDUSTRY CERTIFICATE
(16/bold/upper case)
(Three blank space)

This is to certify that the Project Report Stage-II entitled (12 /sentence case)
(Two blank space)

<<PROJECT TITLE>>
(12/bold/upper case)
(Two blank space)

Submitted by (one line blank space)

Name of Students as per Cover Page

<<Name of Student 1 >><<Examination Seat No. : 1>>(12/title case)

<<Name of Student 2 >><<Examination Seat No. : 2 >>

(Three blank space)

is a bonafide work carried out by them under the supervision of Prof.
__________________________ and it is approved by me for the partial fulfillment of the
requirement of SavitribaiPhule Pune University for theaward of the Degree of Bachelor of
Engineering (Name of Programme) Academic Year: 2021-22
(12/ sentence case)
(Two blank space)

This project report has not been earlier submitted to any other Institute or University for the
award of any degree or diploma. (12/ sentence case)

<<Name >>
Industry Guide
<<Name of Department>>

Date :
Place:Nashik

iv
 DECLARATION
We hereby declare that the work presented in this the Project Stage-I Report entitled
“__________________” is an original work carried out by us under the supervision of Prof.
___________, Department of Electrical Engineering Department, K. K. Wagh Institute of
Engineering Education and Research, Nashik.
We further declare that work reported in this project report is our original and independent
work and has not been previously submitted to this or any other University for the award of
the degree, diploma, associate-ship or any other similar title.

Date: Student Name 1

Place: K. K. Wagh Institute of Engineering Student Name 2
Education and Research, Nashik Student Name 3

Date:
Place: Nashik

v
 ACKNOWLEDGEMENT
It is a privilege for us to have been associated with Prof. _________, our project
guide, during this project work. We are thankful to him, for his constant inspiration and
valuable guidance, carefully reading and editing our work and always boosting our
confidence to complete work.
(Say thanks to your industry, industry guide)
We express our gratitude to Prof. Dr. K. N. Nandurkar, Principal and Prof. Dr. R.
K. Munje, Head (I/C), Department of Electrical Engineering, for their constant
encouragement, co-operation, valuable guidance, and support. We express our sincere thanks
to our academic, Project Coordinator and class coordinators,______________,
__________________ and all the faculty members of the Electrical Department for their
unfailing inspiration and co-operation.
(Special thanks to faculty members who helped you to carry out the experiment)
We take this opportunity to thank all our classmates for their company during
the course work and for the useful discussions, we had with them.
We would be failing in our duties if we do not make a mention of our family members
including our parents and our siblings for providing moral support, without which this work
would not have been completed.
This kind of work cannot be finished without any others’ help, even some of them
have not aware of their contribution and importance in producing this report. It is a great
pleasure for us to take this opportunity to express our gratefulness to all of them.

(Names of Students)
Name of Students as per Cover Page

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 ABSTRACT
Abstract should be of 300-350 words. With the logical sequence and maintaining the flow,
answers to the following questions should be discussed in the abstract.
Why the study is to be carried out? (Motivation)
What is the study about? (Problem Statement)
How the study is carried out? (Approach)
What are the main results? (Answers to the few problems)
What is the conclusion? (Partial conclusion)

Key-words: (3 to 5 important words to be written alphabetically)

vii
TABLE OF CONTENTS

CERTIFICATE ii
INDUSTRY CERTIFICATE iii
DECLARATION iv
ACKNOWLEDGEMENT v
ABSTRACT vi
LIST OF FIGURES ix
LIST OF TABLES x
ABBREVIATIONS xi
CHAPTER 1 - INTRODUCTION 1
1.1 Introduction 1
1.2 Literature Review 1
1.3 Problem Identification 2
1.4 Organization of Report 2
CHAPTER 2 - SYSTEM OVERVIEW 3
2.1 Introduction 3
2.2 System Description 3
2.5 Conclusion 3
CHAPTER 3 - MATHEMATICAL MODELING/MODEL
DEVELOPMENT/THEORETICAL FOUNDATION 4
3.1 Introduction 4
3.2 Heading Depending on the Project Content 4
3.3 Conclusion 4
CHAPTER 4 - SYSTEM DESIGN/ APPLIED METHODOLOGY/ HARDWARE
DEVELOPMENT/ CONTRIBUTION 5
4.1 Introduction 5
4.2 Design of System 5
4.3 Experimental/Simulation Results 5
4.4 Conclusion 5
CHAPTER 5 - IMPLEMENTATION AND TESTING 6
5.1 Introduction 6
5.2 Implementation 6
5.3 Testing and conclusion 6
CHAPTER 6 - CONCLUSION AND NEXT PLANNING 7
6.1 Conclusion 7
6.2 Next Planning 7
APPENDIX 8

viii
REFERENCES 9
PUBLICATIONS ON THIS REPORT 10

ix
LIST OF FIGURES

x
LIST OF TABLES

xi
ABBREVIATIONS

xii
 CHAPTER 1 - INTRODUCTION
1.1 Introduction
(This should include Goals and Objective: (What was to be achieved?) and Motivation (Why
undertake the project?))

1.2 Literature Review

(Review of at least 20-25 related research papers. Overview of the technical area, i.e.
background technical context. Example is given below.)
The two-wheeled inverted pendulum has been suggested as a handy carrier due to its
high maneuverability and small footprint [1, 2]. It has been recommended as a suitable unit for
home and office surroundings [3]. Controlling such a system is a challenging problem due to
nonlinear and complex dynamics, uncertain environmental conditions, parameter uncertainties,
etc. [4]. The modeling of the system is also complicated due to the rolling/slipping constraints
of the wheels. Despite its dynamic complexity, a number of two-wheeled inverted pendulums
have been created by research institutions and companies [5]. One of the most reported
proposals of a two-wheeled inverted pendulum was done by Yamafujiet al. in 1988 [6]. By
1996, Ha et al. [7] established an autonomous two-wheeled inverted pendulum type robot
driven by two independent driving wheels on the same axle and it had a gyro-type sensor to
measure the inclination angular velocity of the robot’s body. In 1999, Shiroma et al. [8]
designed comparable robots that synchronized with each other to carry a load supportively. In
2003, Bui et al. [9] proposed a welding mobile robot consisting of a welding torch mounted on
a two-wheeled inverted pendulum that was able to follow a specified welding trajectory. Later
in 2010, Ding et al. [10] designed a two-wheeled inverted pendulum platform that is
anticipated to act as a personal transporter with a modifiable seat to keep the rider posture
permanently vertical. Earlier in 2002, Grasser et al. [11] elaborated on the development of a
two-wheel vehicle which was able to stabilize the system using two decoupled DC motors. In
2004, Sasaki et al. [12] designed a similar vehicle but without a steering control stick. Instead,
the steering was commanded by the user leaning towards one side. In 2007, Li et al. [1]
proposed a dual function vehicle that would serve both as a person and goods transporter. In
2009, a similar robot was proposed as a baggage transporter that could follow predefined paths
[13].

1
1.3 Problem Identification
From the above literature review, two main challenges can be revealed. These are
discussed in the following. (Discuss the problems)

1.4 Organization of Report

The report is organized as follows. Chapter 2 presents the dynamic model of two-
wheeled inverted pendulum balancing mobile robot, modeling of the model, linearization and
linear system properties of the model. Chapter 3 describes the design of a conventional
sliding mode controller and its application to the model. These results are compared with the
linear quadratic regulator design. Chapter 4 demonstrates the applicability of two types of
sliding mode controllers for disturbance rejection. The first is based on integral sliding mode
control and the other is based on the linear matrix inequality (LMI). Finally, chapter 5
provides concluding remarks and future work.

2
 CHAPTER 2 - SYSTEM OVERVIEW
2.1 Introduction
In the previous chapter, a brief introduction of the inverted pendulum balancing
mobile robot (IPBMR) or two-wheeled balancing mobile robot (2WBMR) is given along
with the literature review. The motivation and objectives of this report are also discussed.
This chapter presents a detailed description of the system is given with the assumptions.
Justifications for the assumptions are also elaborated.

2.2 System Description

(Detailed description of the system with block diagram or circuit diagram with specifications
of the components/parts/parameters. Related assumptions and justifications of assumptions.
Some definitions, features of the system. Mathematical treatment of the system. Description
of physical/mathematical laws, physical characteristics, etc.)

2.5 Conclusion
(Summary of this chapter (What is presented? and why presented?). Important highlights,
features, responses of the system.)

3
 CHAPTER 3 - MATHEMATICAL MODELING/MODEL
DEVELOPMENT/THEORETICAL FOUNDATION
3.1 Introduction
(Review of the last chapter and topics to be covered in this chapter. What is the importance of
this chapter? Refer previous chapter for example.)

3.2 Heading Depending on the Project Content

3.3 Conclusion
(Summary of the chapter.)

4
 CHAPTER 4 - SYSTEM DESIGN/ APPLIED
METHODOLOGY/ HARDWARE DEVELOPMENT/
CONTRIBUTION
4.1 Introduction
In the previous chapter, (review of the last chapter).
Discussion about different design options.
The main objective of the report is (brief about the objective). Hence, in this chapter, (work
carried out in this chapter).

4.2 Design of System

Physical Realization: Circuit Design, Algorithms, Mechanical Superstructure, steps in the
design

4.3 Experimental/Simulation Results

Discussion and interpretation of results.

4.4 Conclusion
In this Chapter,(summary of this chapter.)

5
 CHAPTER 5 - IMPLEMENTATION AND TESTING
5.1 Introduction
(Review of previous chapter and topics to be covered in this chapter.)

5.2 Implementation
(Software/ hardware interfacing)
To show that it works but also it does not work for (Limitations)

5.3 Testing and conclusion

(Verification, Validation, and Evaluation)
 Validation: Have I built the right system? Does it satisfy the requirements?
 Verification: Have I built the system right? Is it computing the right answer?
 Evaluation: How good is the system?

6
 CHAPTER 6 - CONCLUSION AND NEXT PLANNING
6.1 Conclusion
(Summary of work done and critical appraisal of work done.)
The work carried out in the report can be summarized briefly as follows.

6.2 Next Planning

Planning of the next or remaining work)
The planning for the remaining work is given below.
Sr. Details of work
Weeks Expected outcomes
No. completion

7
 APPENDIX
(Datasheet/derivation/ methods, analysis, experiments, additional data, Mathematical
derivation, Design, etc.)

8
 REFERENCES
[1] F. Ding, J. Huang, Y. Wang, T. Matsuno, T. Fukuda, and K. Sekiyama, “Modeling and
Control of a Novel Narrow Vehicle”, IEEE International Conference on Robotics and
Biomimetics, Tianjin, 2010, pp. 1130-1135. (IEEE Conference)
[2] F. Grasser, A. D'Arrigo, S. Colombi, and A. C. Rufer, “JOE: A Mobile, Inverted
Pendulum”, IEEE Transactions on Industrial Electronics, Vol. 49, No. 1, February 2002, pp.
107-114. (IEEE Journal)
[3] M. Sasaki, N. Yanagihara, O. Matsumoto, and K. Komoriya, “Forward and Backward
Motion Control of Personal Riding-type Wheeled Mobile Platform”, IEEE International
Conference on Robotics and Automation, New Orleans, LA, USA, 2004, pp. 3331-3336.
(IEEE Conference)
[4] T. Takei, R. Imamura, and S. Yuta, “Baggage Transportation and Navigation by a
Wheeled Inverted Pendulum Mobile Robot”, IEEE Transactions on Industrial Electronics,
Vol. 56, No. 10, October 2009, pp. 3985-3994. (IEEE Journal)
[5] Segway Robotics, “Project PUMA”, Available: https://www.caranddriver.com/news/gm-
segway-project-puma-concept-auto-shows. (Report with a website)
[6] Z. Li, and Y. Zhang, “Robust Adaptive Motion/Force Control for Wheeled Inverted
Pendulums”, Automatica, Vol. 46, 2010, pp. 1346-1353. (Elsevier Journal)
[7] T. Takei, O. Matsumoto, and K. Komoriya, “Simultaneous Estimation of Slope Angle and
Handling Force When Getting On and Off a Human-Riding Wheeled Inverted Pendulum
Vehicle”, IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis,
MO, 2009, pp. 4553-4558. (IEEE Conference)
[8] MATLAB/ SIMULINK Control Design Toolbox User Manual, 2014. (Software)
[9] C. Edward, and S. K. Surgeon, Sliding Mode Control: Theory and Application, System
and Control Book Series. (Book)

9
 PUBLICATIONS ON THIS REPORT
[1] G. S. Gokhale, S. J. Koli, R. S. Suradkar, R. K. Munje “Case Study on Harmonic Analysis
of Personal Computers”, National Power, Energy, and Control Conference (NPECC-2016)
December 23-24, 2016, K. K. WaghInstitue of Engineering Education and Research, Nashik.

10