Browse

The paper consists of a method to implement a control system algorithm for an inertia wheel inverted pendulum. Like any control system application, the transfer function of the plant should be known in order to design the proper controller. The key point of this paper is that the behaviour of the plant is consider unknown, so a system identification should be done at first. Even if the classical way to obtain the transfer function is by writing the physical equations, the result obtained from system identification...