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- Aguilar, Luis T., et al.
(author)
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Generating oscillations in inertia wheel pendulum via two-relay controller
- 2012
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In: International Journal of Robust and Nonlinear Control. - Malden : Wiley-Blackwell. - 1049-8923 .- 1099-1239. ; 22:3, s. 318-330
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Journal article (peer-reviewed)abstract
- The problem of generating oscillations of the inertia wheel pendulum is considered. We combine exact feedback linearization with two-relay controller, tuned using frequency-domain tools, such as computing the locus of a perturbed relay system. Explicit expressions for the parameters of the controller in terms of the desired frequency and amplitude are derived. Sufficient conditions for orbital asymptotic stability of the closed-loop system are obtained with the help of the Poincare map. Performance is validated via experiments. The approach can be easily applied for a minimum phase system, provided the behavior of the states of the zero dynamics is of no concern. Copyright (C) 2011 John Wiley & Sons, Ltd.
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