The reaction wheel pendulum [electronic resource] / Daniel J. Block, Karl J. Åström, Mark W. Spong.
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 pendulu...
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Full Text (via Morgan & Claypool) |
|---|---|
| Main Author: | |
| Corporate Author: | |
| Other Authors: | , |
| Other title: | Synthesis digital library of engineering and computer science. |
| Format: | Electronic eBook |
| Language: | English |
| Published: |
San Rafael, Calif. (1537 Fourth Street, San Rafael, CA 94901 USA) :
Morgan & Claypool Publishers,
©2007.
|
| Series: | Synthesis lectures on control and mechatronics (Online) ;
# 1. |
| Subjects: |
MARC
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| 100 | 1 | |a Block, Daniel Jerome. |0 http://id.loc.gov/authorities/names/no2007062776 |1 http://isni.org/isni/0000000054173127. | |
| 245 | 1 | 4 | |a The reaction wheel pendulum |h [electronic resource] / |c Daniel J. Block, Karl J. Åström, Mark W. Spong. |
| 260 | |a San Rafael, Calif. (1537 Fourth Street, San Rafael, CA 94901 USA) : |b Morgan & Claypool Publishers, |c ©2007. | ||
| 300 | |a 1 electronic document (vi, 105 pages) : |b digital file. | ||
| 336 | |a text |b txt |2 rdacontent. | ||
| 337 | |a computer |b c |2 rdamedia. | ||
| 338 | |a online resource |b cr |2 rdacarrier. | ||
| 490 | 1 | |a Synthesis lectures on control and mechatronics, |x 1932-0572 ; |v #1. | |
| 500 | |a Part of: Synthesis digital library of engineering and computer science. | ||
| 500 | |a Series from website. | ||
| 500 | |a Title from PDF title page (viewed on Oct. 10, 2008) | ||
| 504 | |a Includes bibliographical references (pages 99-100) and index. | ||
| 505 | 0 | |a Introduction -- Modeling -- Controlling the reaction wheel -- Stabilizing the inverted pendulum -- Swinging up the pendulum -- Switching control -- Additional topics -- Summary -- References -- Index -- Author biography. | |
| 520 | 0 | |a 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. | |
| 650 | 0 | |a Automatic control. |0 http://id.loc.gov/authorities/subjects/sh85010089. | |
| 650 | 0 | |a Mechanics. |0 http://id.loc.gov/authorities/subjects/sh85082767. | |
| 650 | 0 | |a Nonlinear theories. |0 http://id.loc.gov/authorities/subjects/sh85092332. | |
| 650 | 0 | |a Pendulum. |0 http://id.loc.gov/authorities/subjects/sh85099384. | |
| 690 | |a Feedback control. | ||
| 690 | |a Inverted pendulum. | ||
| 690 | |a Modeling. | ||
| 690 | |a Dynamics. | ||
| 690 | |a Nonlinear control. | ||
| 690 | |a Stabilization. | ||
| 690 | |a Friction compensation. | ||
| 690 | |a Quantization. | ||
| 690 | |a Hybrid control. | ||
| 700 | 1 | |a Åström, Karl J. |q (Karl Johan), |d 1934- |0 http://id.loc.gov/authorities/names/n83219771 |1 http://isni.org/isni/000000010926780X. | |
| 700 | 1 | |a Spong, Mark W. |0 http://id.loc.gov/authorities/names/n88119384 |1 http://isni.org/isni/0000000084477607. | |
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