A Large Scale Lego Ballbot was constructed by 3 senior students at KU KPS, using a Lego NXT Mindstorms kit and other available Lego parts, and the generalized controller implemented in MATLAB Simulink utilizing the ECRobot toolkit.

A controller for the ballbot system has been developed using a full state feedback approach, based on a controller developed by Yamamoto for a two wheeled balancing robot. Ballbots provide an exciting application of control theory, particularly the concept of dynamic stability. However, physical factors, in particular slip between the drive wheels and ball, limited performance of this ballbot. The Ballbots were to be used as promotional and teaching tools at the Department of Mechanical Engineering, Kasetsart University, Khamphengsean Campus.