Designing, implementing and analysing optimal controllers on a non-linear reaction wheel pendulum

This paper discusses a reaction wheel control system. A reaction wheel pendulum is good example of a non-linear and underactuated system, which attracts control system researchers to develop many control algorithms. The reaction wheel plant is usually used for studying advanced control system courses. In this paper, a mathematical model of the state space is discussing. A proposed LQR control algorithm is explained. Simulation and real time experiments have seen carried out to verify the performance of the proposed closed loop system. The LQR optimisation algorithm was able to find the optimum feedback gains. The simulation and real time experiments show that the reaction wheel pendulum could stabilize the pendulum at upright position.