Swing-up and Stabilization of an Inertia Wheel Pendulum

The reaction moment of the inertia wheel is used to swing up and stabilize the pendulum.
An EC motor is directly driving the inertia wheel. After accelerationg the wheel to an inital speed the wheel is deacellerated quickly so that the interita wheel swings up. Trajectories for swinging up are calcluated by an optimization algorithm. Dimensions of the pendulum are chosen to fit within a cube with a side length of 18cm.

Видео Swing-up and Stabilization of an Inertia Wheel Pendulum канала robinJKU