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Study on Controller Embedding Stage Using Model-Based-Design for a Bike with CMG

In previous works, authors presented some methods for mathematical modelling of dynamics and robust control approach to stabilization of a bicycle with usage of Control Moment Gyro (CMG). In this paper, the next step in the control system design and verification are presented. The model based approach is applied in forms of model in the loop, software in the loop, and processor in the loop to practically test the considered controller before final implementation in the real-device. The considered methods are illustrated with experimental data and compared.