2019-11-062019-11-062019Engineering Science and Technology, an International Journal2215-0986https://hdl.handle.net/20.500.12585/8722This paper presents a nonlinear analysis, control, and comparison of controllers based on the dynamical model of the reaction wheel pendulum (RWP) in a tutorial style. Classical methodologies such as proportional integral derivative (PID) control and state variables feedback control are explored. Lyapunov's method is proposed to analyze the stability of the proposed nonlinear controllers, and it is also used to design control laws guaranteeing globally asymptotically stability conditions in closed-loop. A swing up strategy is also included to bring the pendulum bar to the desired operating zone at the vertical upper position from an arbitrary initial location. Simulation results show that it is possible to obtain the same dynamical behavior of the RWP system adjusting the control gains adequately. All simulations were conducted via MATLAB Ordinary Differential Equation packages. © 2019 Karabuk UniversityRecurso electrónicoapplication/pdfenghttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/article10.1016/j.jestch.2019.03.004Control Lyapunov functionsFeedback controlProportional-integral-derivativeReaction wheel pendulumStability analysisinfo:eu-repo/semantics/openAccessAtribución-NoComercial 4.0 InternacionalUniversidad Tecnológica de BolívarRepositorio UTB