Control System in Open-Source FPGA for a Self-Balancing Robot Ordóñez Cerezo, Juan Castillo Morales, María Encarnación Cañas Plaza, José María Robotics Open FPGAs Robot control Computing in technological applications is typically performed with software running on general-purpose microprocessors, such as the Computer Processing Unit (CPU), or specific ones, like the Graphical Processing Unit (GPU). Application-Specific Integrated Circuits (ASICs) are an interesting option when speed and reliability are required, but development costs are usually high. Field-Programmable Gate Arrays (FPGA) combine the flexibility of software with the high-speed operation of hardware, and can keep costs low. The dominant FPGA infrastructure is proprietary, but open tools have greatly improved and are a growing trend, from which robotics can benefit. This paper presents a robotics application that was fully developed using open FPGA tools. An inverted pendulum robot was designed, built, and programmed using open FPGA tools, such as IceStudio and the IceZum Alhambra board, which integrates the iCE40HX4K-TQ144 from Lattice. The perception from an inertial sensor is used in a PD control algorithm that commands two DC motors. All the modules were synthesized in an FPGA as a proof of concept. Its experimental validation shows good behavior and performance. 2020-02-21T10:15:13Z 2020-02-21T10:15:13Z 2019-02-09 journal article Ordóñez Cerezo, J., Castillo Morales, E., & Cañas Plaza, J. M. (2019). Control system in open-source FPGA for a self-balancing robot. Electronics, 8(2), 198. http://hdl.handle.net/10481/59806 10.3390/electronics8020198 eng http://creativecommons.org/licenses/by/3.0/es/ open access Atribución 3.0 España MDPI