I. Introduction
Self-adjusting robots have been a subject of interest for some scientists. Basically, it is an altered pendulum on wheels, a subsidiary of the rearranged pendulum on a truck. In contrast to conventional robots, which are in a consistent condition of harmony, the robot is a normally shaky framework. [1, 2]Its plan is more perplexing, as it should be effectively controlled to keep up with its upstanding position, be that as it may, it benefits from having the option to turn on the spot.