The Reaction Wheel Pendulum

Daniel Jerome Block, Karl Johan Åström, Mark W. Spong

Research output: Book/ReportBookResearch


"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 the motor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. 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."
Original languageEnglish
PublisherMorgan & Claypool
Publication statusPublished - 2007

Publication series

NameSynthesis Lectures on Control and Mechatronics, Princeton, NJ

Subject classification (UKÄ)

  • Control Engineering


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