Documents
Montoya, O.D.a , Garrido, V.M.a , Gil-Gonzalez, W.b , Orozco-Henao, C.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
a Universidad Tecnológica de Bolívar, Programa de Ingeniería Electrica, Cartagena, Colombia
b Universidad Tecnológica de Pereira, Programa de Ingeniería Electrica, Pereira, Colombia
c Universidad Del Norte, Programa de Ingeniería Electrica, Barranquilla, Colombia
Abstract
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. © 2019 IEEE.
Index Keywords
Hamiltonians, MATLAB, Pendulums, Stability, Wheels; Hamiltonian structures, Interconnection and damping
assignment, Non-linear controllers, Open loop dynamics, Passivity based control, Reaction wheel
pendulum, Stability properties, Theoretical development; Controllers
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Document Type: Conference Paper
Publication Stage: Final
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