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This paper presents a modeling and control approach using feedback linearization and LQR control for a reaction wheel pendulum system. First, the equations of motion for the reaction wheel pendulum system are derived. Then, feedback linearization is employed to linearize the nonlinear system dynamics. This technique transforms the original system into a linear system by canceling out the nonlinearities using feedback. The control design utilizes the linearized model obtained through feedback linearization in conjunction with the LQR control strategy. Simulation results demonstrate the effectiveness of the combined feedback linearization and LQR control approach for stabilizing the reaction wheel pendulum system.

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Modeling and Control of Reaction Wheel Pendulum with Feedback Linearization and LQR Control

  • 会议论文

  • 发表日期：

    2025年

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  • Unggul Wasiwitono,
  • Didik Khusnul Arif,
  • Latifah Nurahmi,
  • Bambang Pramujati

摘要

This paper presents a modeling and control approach using feedback linearization and LQR control for a reaction wheel pendulum system. First, the equations of motion for the reaction wheel pendulum system are derived. Then, feedback linearization is employed to linearize the nonlinear system dynamics. This technique transforms the original system into a linear system by canceling out the nonlinearities using feedback. The control design utilizes the linearized model obtained through feedback linearization in conjunction with the LQR control strategy. Simulation results demonstrate the effectiveness of the combined feedback linearization and LQR control approach for stabilizing the reaction wheel pendulum system.