Montoya, Oscar DaniloGil-González, WalterDomínguez Jiménez, Juan AntonioMolina-Cabrera, AlexanderGiral-Ramírez, Diego Armando2020-11-042020-11-042020-10-262020-11-03Montoya, O.D.; Gil-González, W.; Dominguez-Jimenez, J.A.; Molina-Cabrera, A.; Giral-Ramírez, D.A. Global Stabilization of a Reaction Wheel Pendulum: A Discrete-Inverse Optimal Formulation Approach via A Control Lyapunov Function. Symmetry 2020, 12, 1771.https://hdl.handle.net/20.500.12585/9544This paper deals with the global stabilization of the reaction wheel pendulum (RWP) in the discrete-time domain. The discrete-inverse optimal control approach via a control Lyapunov function (CLF) is employed to make the stabilization task. The main advantages of using this control methodology can be summarized as follows: (i) it guarantees exponential stability in closed-loop operation, and (ii) the inverse control law is optimal since it minimizes the cost functional of the system. Numerical simulations demonstrate that the RWP is stabilized with the discrete-inverse optimal control approach via a CLF with different settling times as a function of the control gains. Furthermore, parametric uncertainties and comparisons with nonlinear controllers such as passivity-based and Lyapunov-based approaches developed in the continuous-time domain have demonstrated the superiority of the proposed discrete control approach. All of these simulations have been implemented in the MATLAB software.13 páginasapplication/pdfenghttp://creativecommons.org/licenses/by-nc-nd/4.0/https://www.mdpi.com/2073-8994/12/11/1771info:eu-repo/semantics/article10.3390/sym12111771Discrete-inverse optimal controlGlobal exponential stabilizationReaction wheel pendulumParametric uncertaintiesDiscrete-affine systemsCost functionalinfo:eu-repo/semantics/openAccessAttribution-NonCommercial-NoDerivatives 4.0 InternacionalUniversidad Tecnológica de BolívarRepositorio Universidad Tecnológica de Bolívar