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The Reaction Wheel Pendulum

Block, Daniel Jerome; Åström, Karl Johan LU and Spong, Mark W. (2007) In Synthesis Lectures on Control and Mechatronics, Princeton, NJ
Abstract
"This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control 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, and 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 about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. This monograph can be used as a supplement for courses in feedback control at the undergraduate... (More)
"This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control 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, and 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 about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. 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 as a reference for research in nonlinear control." (Less)
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published
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in
Synthesis Lectures on Control and Mechatronics, Princeton, NJ
publisher
Morgan & Claypool
language
English
LU publication?
yes
id
f6f6f503-eb63-4bb1-94ef-05e0699f3f25 (old id 8602695)
date added to LUP
2016-02-15 19:15:09
date last changed
2016-04-16 10:14:46
@misc{f6f6f503-eb63-4bb1-94ef-05e0699f3f25,
  abstract     = {"This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control 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, and 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 about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. 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 as a reference for research in nonlinear control."},
  author       = {Block, Daniel Jerome and Åström, Karl Johan and Spong, Mark W.},
  language     = {eng},
  publisher    = {ARRAY(0xb7ae538)},
  series       = {Synthesis Lectures on Control and Mechatronics, Princeton, NJ},
  title        = {The Reaction Wheel Pendulum},
  year         = {2007},
}