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.
|Title of host publication||Intelligent Systems, Control and Automation|
|Subtitle of host publication||Science and Engineering|
|Number of pages||18|
|State||Published - 1 Jan 2018|
|Name||Intelligent Systems, Control and Automation: Science and Engineering|