Feedback linearization control of the IWP

Javier Moreno-Valenzuela, Carlos Aguilar-Avelar

    Research output: Chapter in Book/Report/Conference proceedingChapter

    1 Scopus citations

    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.

    Original languageEnglish
    Title of host publicationIntelligent Systems, Control and Automation
    Subtitle of host publicationScience and Engineering
    PublisherSpringer Netherlands
    Pages141-158
    Number of pages18
    DOIs
    StatePublished - 1 Jan 2018

    Publication series

    NameIntelligent Systems, Control and Automation: Science and Engineering
    Volume88
    ISSN (Print)2213-8986
    ISSN (Electronic)2213-8994

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    Cite this

    Moreno-Valenzuela, J., & Aguilar-Avelar, C. (2018). Feedback linearization control of the IWP. In Intelligent Systems, Control and Automation: Science and Engineering (pp. 141-158). (Intelligent Systems, Control and Automation: Science and Engineering; Vol. 88). Springer Netherlands. https://doi.org/10.1007/978-3-319-58319-8_8