The reaction wheel pendulum

• Main Author: Block, Daniel Jerome.
• Corporate Author: Morgan & Claypool Publishers.
• Other Authors: Åström, Karl J. 1934-, Spong, Mark W.
• Format: Electronic
• Language: English
• Published: San Rafael, Calif. (1537 Fourth Street, San Rafael, CA 94901 USA) : Morgan & Claypool Publishers, c2007.
• Series: Synthesis lectures on control and mechatronics ; #1.
• Subjects: Automatic control.; Mechanics.; Nonlinear theories.; Pendulum.
• Online Access: Abstract with links to full text
• Item Description: Part of: Synthesis digital library of engineering and computer science.; Series from website.; Title from PDF t.p. (viewed on Oct. 10, 2008).
• Physical Description: 1 electronic document (vi, 105 p.) : digital file.; Available also in print.
• Format: Mode of access: World Wide Web.; System requirements: Adobe Acrobat reader.
• Bibliography: Includes bibliographical references (p. 99-100) and index.
• ISBN: 1598291955 (electronic bk.); 9781598291957 (electronic bk.); 1598291947 (pbk.); 9781598291940 (pbk.)
• ISSN: 1932-0572
• Access: Abstract freely available; full-text restricted to subscribers or individual document purchasers.

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 themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. We also discuss hybrid and switching control, which is useful for switching between the swingup 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 as a reference for research in nonlinear control.