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Cover Art
Author Block, Daniel Jerome.

Title The reaction wheel pendulum / Daniel J. Block, Karl J. �Astr�om, Mark W. Spong.

Published San Rafael, Calif. (1537 Fourth Street, San Rafael, CA 94901 USA) : Morgan & Claypool Publishers, [2007]


Location Call No. Status
Physical description 1 electronic document (vi, 105 pages) : digital file.
monochrome rdacc
Series Synthesis lectures on control and mechatronics, 1932-0572 ; #1.
Synthesis lectures on control and mechatronics ; #1.
Notes Part of: Synthesis digital library of engineering and computer science.
Series from website.
Bibliography Includes bibliographical references (pages 99-100) and index.
Contents Introduction -- Modeling -- Controlling the reaction wheel -- Stabilizing the inverted pendulum -- Swinging up the pendulum -- Switching control -- Additional topics -- Summary -- References -- Index -- Author biography.
Restrictions Abstract freely available; full-text restricted to subscribers or individual document purchasers.
Summary 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.
Other formats Available also in print.
System notes Mode of access: World Wide Web.
System requirements: Adobe Acrobat reader.
Notes Title from PDF t.p. (viewed on Oct. 10, 2008).
Other author Åström, Karl J. (Karl Johan), 1934-
Spong, Mark W.
Morgan & Claypool Publishers.
Subject Automatic control.
Nonlinear theories.
Other uniform title Synthesis digital library of engineering and computer science.
Standard Number 10.2200/S00085ED1V01Y200702CRM001
ISBN 1598291955 (electronic bk.)
9781598291957 (electronic bk.)
1598291947 (paperback)
9781598291940 (paperback)