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The Reaction Wheel Pendulum pdf

Book Description:

This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for controlling education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in-depth, including linear and nonlinear models, as well as models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of the motor to stabilization of the pendulum in an equilibrium configuration using linear control to the nonlinear control problem of swing-up control. We also discuss hybrid and switching control, which is useful for switching between the swing-up and balance controllers. We also discuss important practical issues such as friction modeling and friction compensation, quantization of sensor signals, and saturation. This monograph can be used as a supplement for courses in feedback control at the undergraduate level, courses in mechatronics, or courses in linear and nonlinear state space control at the graduate level. It can also be used as a laboratory manual and a reference for research in nonlinear control.

 

The Reaction Wheel Pendulum PDF

Author(s): Karl Astrom

Series: Synthesis Lectures on Controls and Mechatronics Volume 0

Publisher: Morgan and Claypool Publishers, Year: 2007

ISBN: 1598291947,9781598291940


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