NXT arduino Balancing PID PLEASE HELP

hi guys, come here advice, appreciate if nice people answer me on post.

i build balancing robot arduino , nxt motors, works great pid not much. trying tune 1 week , best results got are:

https://www.youtube.com/watch?v=udzgni9gnxa

but still happens robot falls down , not in stability.  i used think ways of tuning ziegler nichols . found graph period of oscillation (0.67s) , calculated values. did not work properly.

sometimes happens standing properly, afterward tilts little bit in front correct it, after tilts more backwards , has correct more still it, , after tilts again forward falls already. creates oscillation increasing. looks me term of pid changing slow. can be?

or have advice how can improve pid constants?

i want ask guys advice, have present robot , need little better results.

i thankful answers. code free in github(youtube video description)

thank juraj!

guys  bagging help! cant move on! if give me document find info. searched on internet lot found did not help!

i need has experiences , knows do, sure here lot of people!


thank you

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