Montoya, O.D., Garrido, V.M. , Gil-Gonzalez, W., Orozco-Henao, C. Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach (2019) 2019 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2019, art. no. 9057105, DOI: 10.1109/ROPEC48299.2019.9057105
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This paper presents the development of a nonlinear controller for the reaction wheel pendulum (RWP) via an interconnection and damping assignment passivity-based control (IDA-PBC) approach. The IDA-PBC approach works with the port-Hamiltonian open-loop dynamics of the RWP to propose a nonlinear controller that preserves the Hamiltonian structure in closed-loop by guaranteeing stability properties in the sense of Lyapunov. Numerical results confirm the theoretical development presented throughout simulations in Simulink package from MATLAB. Comparison with a Lyapunov-based approach is also provided
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