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

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 pendulu...

Table of Contents:

• Introduction
• Modeling
• Controlling the reaction wheel
• Stabilizing the inverted pendulum
• Swinging up the pendulum
• Switching control
• Additional topics
• Summary
• References
• Index
• Author biography.