Two-Axis Reaction Wheel Inverted Pendulum

Abstract

This report presents the results from development and design of a two-axis reaction wheel inverted pendulum. It shows the mathematical modeling

of the system using Euler-Lagrange's equations of motion, as well as MATLAB and Simulink implementation.

A strategy for balance control of the system is presented and compared through simulation, ultimately showing that the system is theoretically

controllable with the given sensor measurements.

Further the report presents an experimental design of the system and implements necessary functions for measurements and balance control.

The results for both the simulations and the experimental tests are presented in this report. Although in the end the experimental model

presented in this report deemed unable to stabilize about the upright equilibrium.