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The Reaction Wheel Pendulum [electronic resource] / by Daniel J. Block, Karl J. Åström, Mark W. Spong.

By: Block, Daniel J [author.].
Contributor(s): Åström, Karl J [author.] | Spong, Mark W [author.] | SpringerLink (Online service).
Material type: materialTypeLabelBookSeries: Synthesis Lectures on Control and Mechatronics: Publisher: Cham : Springer International Publishing : Imprint: Springer, 2007Edition: 1st ed. 2007.Description: VI, 105 p. online resource.Content type: text Media type: computer Carrier type: online resourceISBN: 9783031018275.Subject(s): Data mining | Statistics  | Data Mining and Knowledge Discovery | StatisticsAdditional physical formats: Printed edition:: No title; Printed edition:: No titleDDC classification: 006.312 Online resources: Click here to access online
Contents:
Introduction -- Modeling -- Controlling the Reaction Wheel -- Stabilizing the Inverted Pendulum -- Swinging Up the Pendulum -- Switching Control -- Additional Topics.
In: Springer Nature eBookSummary: 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.
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Introduction -- Modeling -- Controlling the Reaction Wheel -- Stabilizing the Inverted Pendulum -- Swinging Up the Pendulum -- Switching Control -- Additional Topics.

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.

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