Chapter 1, Problem 10P

A Segway ®5 Personal Transporter (PT) (Figure Pl .3) is a two-wheeled vehicle in which the human operator stands vertically on a platform. As the driver leans left, right, forward, or backward, a set of sensitive gyroscopic- sensors sense the desired input. These signals are fed to a computer that amplifies them and commands motors to propel the vehicle in the desired direction. One very important feature of the PT is its safety: The system will maintain its vertical position within a specified angle despite road disturbances, such as uphills and downhills or even if the operator over-leans in any direction. Draw a functional block diagram of the PT system that keep The System in a vertical position. Indicate the input and output signals, intermediate signals, and many subsystems. (http://segway.com)