000			03252nam a22004455i 4500
999			_c387249 _d387249
001			387249
003			ES-MaUEC
005			20230219094321.0
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007			cr nn 008mamaa
008			220601s2007 sz | s |||| 0|eng d
020			_a9783031018275
024	7		_a10.1007/978-3-031-01827-5 _2doi
040			_aES-MaUEC _bspa _cES-MaUEC _dES-MaUEC
050		4	_aQA862.P4 _b2007 EB
100	1		_aBlock, Daniel Jerome _eautor _4aut _4http://id.loc.gov/vocabulary/relators/aut _9686992
245	1	4	_aThe Reaction Wheel Pendulum _cby Daniel J. Block, Karl J. Åström, Mark W. Spong
250			_a1st edition 2007
264		1	_aCham _bSpringer International Publishing _c2007
300			_a1 recurso en línea (VI, 105 páginas)
336			_atexto _btxt _2rdacontent
337			_aelectrónico _bc _2rdamedia
338			_arecurso electrónico _bcr _2rdacarrier
347			_aarchivo de texto _bPDF
490	0		_aSynthesis Lectures on Control and Mechatronics _x1939-0572
505	0		_aIntroduction -- Modeling -- Controlling the Reaction Wheel -- Stabilizing the Inverted Pendulum -- Swinging Up the Pendulum -- Switching Control -- Additional Topics.
520			_aThis monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. We also discuss hybrid and switching control, which is useful for switching between the swingup and balance controllers. We also discuss important practical issues such as friction modeling and friction compensation, quantization of sensor signals, and saturation. This monograph can be used as a supplement for courses in feedback control at the undergraduate level, courses in mechatronics, or courses in linear and nonlinear state space control at the graduate level. It can also be used as a laboratory manual and as a reference for research in nonlinear control.
988			_aSynthesis Collection of Technology_2007
650		7	_2embne _9686994 _aPéndulo
650		7	_2embne _9673209 _aOscilaciones no lineales
650		7	_2embne _9405125 _aControl automático
700	1		_aÅström, Karl J. _eautor _4aut _4http://id.loc.gov/vocabulary/relators/aut _9686993 _d1934- _q(Karl Johan),
700	1		_aSpong, Mark W. _eautor _4aut _4http://id.loc.gov/vocabulary/relators/aut _966347
776	0	8	_iPrinted edition: _z9783031006999
776	0	8	_iPrinted edition: _z9783031029554
856	4	0	_uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://doi.org/10.1007/978-3-031-01827-5 _zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
942			_2lcc _cLE
998			_b02/2023 _dz _esc _zSI