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Lego Mindstorms EV3 bike project

version (14.5 MB) by Michele Basso
Model based control of a Lego Mindstorms EV3 bike


Updated 21 Dec 2016

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Editor's Note: This file was selected as MATLAB Central Pick of the Week

The design of a self-stabilized bike has been developed using model based control and the Matlab/Simulink support to the Lego Mindstorms EV3 hardware.
The control system allows the bike to self-balance exploiting measures of the lean angle rate from the gyro sensor.
The vehicle maintains a straight trajectory until it stops after a given elapsed time or when the ultrasonic sensor detects an obstacle.
Building instruction are included. The bike has been realized using a standard Lego Mindstorms EV3 "education kit" except for the wheels which have the following Lego product codes: 290301 (RIM) + 290226 (TYRE)

Cite As

Michele Basso (2020). Lego Mindstorms EV3 bike project (, MATLAB Central File Exchange. Retrieved .

Comments and Ratings (3)


Very intersting and well prepared project.

Mohith Prabhu



Fixed a typo in the project title

Picture update

MATLAB Release Compatibility
Created with R2016a
Compatible with any release
Platform Compatibility
Windows macOS Linux