In this chapter, the motion control of the inertia wheel pendulum is analyzed while a twofold control task is performed. That is, the wheel tracks a time-varying desired trajectory while the pendulum is regulated at the upward inverted position, which is the unstable equilibrium of the unforced system. A new feedback linearization-based scheme is applied. The control algorithm is derived from the introduction of a new output function which depends on the full error state vector.
CITATION STYLE
Moreno-Valenzuela, J., & Aguilar-Avelar, C. (2018). Feedback linearization control of the IWP. In Intelligent Systems, Control and Automation: Science and Engineering (Vol. 88, pp. 141–158). Springer Netherlands. https://doi.org/10.1007/978-3-319-58319-8_8
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