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Published December 1, 2001 | public
Book Section - Chapter Open

Global stabilization of a flat underactuated system: the inertia wheel pendulum

Abstract

Inertial Wheel Pendulum (IWP) is a planar pendulum with a revolving wheel (that has a uniform mass distribution) at the end. The pendulum is unactuated and the wheel is actuated. Our main result is to address global asymptotic stabilization of the inertia wheel pendulum around its up-right position. Simulation results are provided for parameters taken from a real-life model of the IWP.

Additional Information

© Copyright 2001 IEEE. Reprinted with permission. Posted online: 2002-08-06

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