Abstract
Through coordinate changes and an initial control design, the inertia wheel pendulum is transformed into a feedforward-type system with higher order nonlinear terms, and then a controller is suggested to attenuate the higher order terms. Partial state variables in the controller admit moderate small saturation restriction and time delay. The global asymptotic stability of the closed-loop system is proven by showing that it has no finite escape time and converges to an asymptotically stable dynamics in finite time. Simulation results show that the proposed design is effective.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
