<abstract xmlns="http://www.w3.org/1999/xhtml"><p> In this paper, two feedback linearizing control laws for the stabilization of the Inertia Wheel Pendulum are derived: a full-state linearizing controller, generalizing the existing results in literature, with friction ignored in the description and an inputoutput linearizing control law, based on a physically motivated definition of the system output. Experiments are carried out on a laboratory test bed with significant friction in order to test and verify the suggested performance and the results are presented and discussed. The main point to be made as a consequence of the experimental evaluation is the fact that actually the asymptotic stabilization was not achieved, but rather a limit cycling behavior was observed for the full-state linearizing controller. The input-output linearizing controller was able to drive the pendulum to the origin, with the wheel speed settling at a finite value</p></abstract>

In this paper, two feedback linearizing control laws for the stabilization of the Inertia Wheel Pendulum are derived: a full-state linearizing controller, generalizing the existing results in literature, with friction ignored in the description and an inputoutput linearizing control law, based on a physically motivated definition of the system output. Experiments are carried out on a laboratory test bed with significant friction in order to test and verify the suggested performance and the results are presented and discussed. The main point to be made as a consequence of the experimental evaluation is the fact that actually the asymptotic stabilization was not achieved, but rather a limit cycling behavior was observed for the full-state linearizing controller. The input-output linearizing controller was able to drive the pendulum to the origin, with the wheel speed settling at a finite value

Feedback Linearization Control of the Inertia Wheel Pendulum

Cybernetics and Information Technologies

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{"article-title":"Feedback Linearization Control of the Inertia Wheel Pendulum"}

In this paper, two feedback linearizing control laws for the stabilization of the Inertia Wheel Pendulum are derived: a full-state linearizing controller,...

Feedback Linearization Control of the Inertia Wheel Pendulum

Published Online: Nov 05, 2014

Page range: 96 - 109

DOI: https://doi.org/10.2478/cait-2014-0036

© by Faculty of Automatics, Technical University of Sofia, 8 Kl. Ohridski Str., 1000 Sofia, Bulgaria Enev

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.