Adaptive stabilization of a reaction wheel pendulum on moving LEGO platform

In this paper an adaptive control algorithm of a reaction wheel pendulum on a movable platform is proposed. Obtained hybrid control system allows to stabilize a pendulum fixed on the movable platform at the top unstable equilibrium. Tasks of swinging up and stabilizing of a pendulum is solved in conditions of a full parametric uncertainty of a plant and constrained control channel. In contrast to other approaches, this algorithm has adaptive adjusting of controller's parameters in ldquoon-linerdquo mode without any preliminary identification procedure. The second goal of this work is a development of applications used in an educational process because an investigation of control theory problems with real plants very important for students and their experience.