TY - CHAP
T1 - Feedback linearization control of the IWP
AU - Moreno-Valenzuela, Javier
AU - Aguilar-Avelar, Carlos
N1 - Publisher Copyright:
© 2018, Springer International Publishing AG.
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85024126373&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-58319-8_8
DO - 10.1007/978-3-319-58319-8_8
M3 - Capítulo
AN - SCOPUS:85024126373
T3 - Intelligent Systems, Control and Automation: Science and Engineering
SP - 141
EP - 158
BT - Intelligent Systems, Control and Automation
PB - Springer Netherlands
ER -