designing a PID controller for a two wheeled lego robot

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SAI LAXMAN REDDY HANMAIAHGARI
Hi I am presently working on a project- designing a PID controller using simulink.But i couldn't find good books or sources to do so really. What controller should I use to do this? Help would be much appreciated really
Th overall goal is to create a two wheeled self balancing robot using LEGO NXT and drive it with the controller.

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