Dynamic analysis and control of gyroscopic inverted pendulum

Abstract

This study aims at modeling and control of inverted pendulum where the stabilization of the inverted pendulum is achieved by control torque generated by gyroscopic precession momentum. Two flywheels rotating in opposite directions at the same speed is considered. A nonlinear dynamic model is presented by using Lagrange method then linearized around its equilibrium point to obtain linear state-space model used to design the state-feedback controller. The dynamics analysis of the gyroscopic inverted pendulum is achieved through simulation experiment with Simulink and Simscape Multibody, a multibody simulation environment for 3D mechanical systems. The simulation results show that the designed controller is able to stabilize non-linear system around equilibrium with great initial roll angle up to 90° and impulse disturbance.