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Computación y Sistemas

On-line version ISSN 2007-9737Print version ISSN 1405-5546


AGUILAR IBANEZ, Carlos; GUTIERREZ FRIAS, Óscar Octavio  and  SUAREZ CASTANON, Miguel Santiago. Controlling the Strongly Damping Inertia Wheel Pendulum via Nested Saturation Functions. Comp. y Sist. [online]. 2009, vol.12, n.4, pp.436-449. ISSN 2007-9737.

In this paper we solve the stabilization problem of the strongly damping inertia wheel pendulum around its unstable equilibrium. The stabilization is accomplished by using nested saturation functions. The use of nested saturation function is possible because this system can be rewritten approximately as a chain of integrators with and nonlinear perturbation. The proposed control strategy makes the closed-loop system globally asymptotically and locally exponentially stable around the unstable inverted vertical position, even when the physical damping is presented in the model.

Keywords : Nested saturation functions; Lyapunov function; nonlinear systems.

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