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Control Strategies for the Stabilization of the Inertia Wheel Inverted Pendulum

N. Touati


This paper proposes two control strategies for the stabilization of the inertia wheel inverted pendulum. The proposed control laws for this a nonlinear underactuated system, are the model reference adaptive control (MRAC) and the non linear predictive control (NPC). They must ensure the stabilization of the inverted pendulum around its unstable equilibrium position. Simulation results are presented to compare and to illustrate the accuracy and effectiveness of the proposed methods


stabilization, nonlinear underactuated system, model reference adaptive control, non linear predictive control

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