Abstract
In this chapter, the motion control of the inertia wheel pendulum is analyzed while a twofold control task is performed. That is, the wheel tracks a time-varying desired trajectory while the pendulum is regulated at the upward inverted position, which is the unstable equilibrium of the unforced system. A new feedback linearization-based scheme is applied. The control algorithm is derived from the introduction of a new output function which depends on the full error state vector.
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Moreno-Valenzuela, J., Aguilar-Avelar, C. (2018). Feedback Linearization Control of the IWP. In: Motion Control of Underactuated Mechanical Systems. Intelligent Systems, Control and Automation: Science and Engineering, vol 88. Springer, Cham. https://doi.org/10.1007/978-3-319-58319-8_8
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DOI: https://doi.org/10.1007/978-3-319-58319-8_8
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Publisher Name: Springer, Cham
Print ISBN: 978-3-319-58318-1
Online ISBN: 978-3-319-58319-8
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