The Reaction Wheel Pendulum by Daniel J Block

The Reaction Wheel Pendulum by Daniel J Block

This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. We also discuss hybrid and switching control, which is useful for switching between the swingup and balance controllers. We also discuss important practical issues such as friction modeling and friction compensation, quantization of sensor signals, and saturation. This monograph can be used as a supplement for courses in feedback control at the undergraduate level, courses in mechatronics, or courses in linear and nonlinear state space control at the graduate level. It can also be used as a laboratory manual and as a reference for research in nonlinear control.

Karl J. Astrom worked for IBM Research in Stockholm before chairing the Automatic Controls Department at Lund University. Since 2002 he has served as Distinguished Visiting Professor at UC Santa Barbara.
Bjorn Wittenmark is Professor Emeritus at Lund University's Automatic Controls Department.

SKU	Unavailable
ISBN 13	9781598291940
ISBN 10	1598291947
Title	The Reaction Wheel Pendulum
Author	Daniel J Block
Series	Synthesis Lectures On Control And Mechatronics
Condition	Unavailable
Binding Type	Paperback
Publisher	Morgan & Claypool Publishers
Year published	2007-07-30
Number of pages	105
Cover note	Book picture is for illustrative purposes only, actual binding, cover or edition may vary.