This report on Digital Control System Engineering includes the design overview, hardware description, MATLAB Simulink implementation, Arduino implementation, and more. The report aims to determine the angle of the MinSeg Robot using a gyroscope and accelerometer and create a complimentary filter using the weighted input from the two sensors. The report also includes system specifications, applications of the project, and code snippets for reading angle from gyroscope and accelerometer and computing angle from the complimentary filter.