Inverted Inertia Wheel Pendulum - Control algorithm testing setup

This is a project of Inverted inertia wheel pendulum designed to test control algorithms for engineering students.
The process is unstable and very cool in my opinion :D

https://youtu.be/POPPNbzDYbw

The electronics and mechanics are very simple and the main focus is for it to be easy to model and to test different algorithms.

The electronics was based on Stm32 Nucleo F411re board, monster motor shield and mabuchi rs-385 motor with encoder.

3D printing was done using Flashforge Creator Pro and CR-10 using PLA filament. Layer high was 0.1 mm and infill density 50%. I would stick to these parameters with Inertia wheel, but the others you can print with lower quality.

The git repo with more detailed explanations, all cad files and full software stack, is on the link:
https://github.com/askuric/inverted_inertia_pendulum

All the files were designed in Solidworks 2016, and all the files are provided (SLDPRT and STEP) for possible remixes and reuse in the git repositor