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Reaction wheel pendulum

Author: Daniel Jerome Block; Karl J Åström; Mark W Spong
Publisher: [San Rafael, Calif.] : Morgan & Claypool, ©2007.
Series: Synthesis lectures on control and mechatronics, no. 1.
Edition/Format:   Print book : English : 1st edView all editions and formats
Summary:
"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  Read more...
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Document Type: Book
All Authors / Contributors: Daniel Jerome Block; Karl J Åström; Mark W Spong
ISBN: 1598291947 9781598291940
OCLC Number: 141384525
Description: vi, 105 pages : illustrations ; 24 cm.
Contents: IntroductionModelingControlling the Reaction WheelStabilizing the Inverted PendulumSwinging Up the PendulumSwitching ControlAdditional Topics
Series Title: Synthesis lectures on control and mechatronics, no. 1.
Responsibility: Daniel J. Block, Karl J. Åström, Mark W. Spong.

Abstract:

Deals with modeling and control of an inverted pendulum device known as the Reaction Wheel Pendulum. The Reaction Wheel Pendulum is perhaps the simplest of the various pendulum systems in terms of  Read more...

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   schema:reviewBody ""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."--Jacket." ;
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