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Item Details
| Title:
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THE REACTION WHEEL PENDULUM
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| By: |
Karl Johan Astrom, Daniel J. Block, Mark Spong |
| Format: |
Paperback |
| List price:
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£40.95 |
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We currently do not stock this item, please contact the publisher directly for
further information.
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| ISBN 10: |
1598291947 |
| ISBN 13: |
9781598291940 |
| Publisher: |
MORGAN & CLAYPOOL PUBLISHERS |
| Pub. date: |
29 June, 1905 |
| Series: |
Synthesis Lectures on Control and Mechatronics |
| Pages: |
105 |
| Description: |
Deals with modeling and control of an inverted pendulum device known as the Reaction Wheel Pendulum. The Reaction Wheel Pendulum is perhaps the simplest of the various pendulum systems in terms of its dynamic properties. This book is useful to engineering students from freshers to advanced level graduates. |
| Synopsis: |
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. |
| Illustrations: |
black & white illustrations |
| Publication: |
US |
| Imprint: |
Morgan & Claypool Publishers |
| Returns: |
Non-returnable |
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