Being absolutely no expert in control theory, I implemented a PID-controlled segway in Algodoo physics sandbox a long time ago without any linearization, simply

Being absolutely no expert in control theory, I implemented a PID-controlled segway in Algodoo physics sandbox a long time ago without any linearization, simply adjusting the coefficients by eye: http://www.algodoo.com/algobox/details.php?id=156819 http://www.algodoo.com/algobox/details.php?id=156819 I wonder how much of an improvement would the linearization yield in this case, given that it only works for small angles (which I imply from "see how to linearize and discretize it for small angles" in the article), and I guess that for large angles there won't be enough wheel grip anyway if torque would suffice, even with linearized control. Well, it's a nice occasion to revisit an old project and try, then.