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The Reaction Wheel Pendulum

In English

Författare

Summary, in English

"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."

Publiceringsår

2007

Språk

Engelska

Publikation/Tidskrift/Serie

Synthesis Lectures on Control and Mechatronics, Princeton, NJ

Dokumenttyp

Bok

Förlag

Morgan & Claypool

Ämne

  • Control Engineering

Aktiv

Published