Dynamics and Control of the Reaction Wheel Inverted Pendulum

An educational and experimental platform for controlling a reaction wheel inverted pendulum (RWIP). The project includes a description of the system dynamics, control algorithms, and a guide for working with the hardware platform.

The pendulum is capable of operating in the following modes:

• Swing-up (Energy-Shaping Control)
• Stabilization in the upright position (LQR)
• Braking in the downward vertical position (Energy-Shaping Control)

The repository provides a seamless workflow from theory to hardware implementation. It is well-suited for control theory or robotics courses and projects, as well as for individuals interested in mastering the control of unstable systems.

Key Components

• Theoretical manual
• Python notebook for modeling and control synthesis
• Fully functional microcontroller firmware

Covered Theoretical Topics

• Derivation of the nonlinear model of the inverted pendulum using the Lagrange method
• Linearization of nonlinear models
• Discretization of continuous-time systems
• Controllability and stability criteria
• LQR controller synthesis
• Energy-Shaping Control

Repository Structure

• Firmware
  • wheel_pendulum_practicum.ino – microcontroller firmware for pendulum control
• Python
  • model.ipynb – pendulum models + control synthesis
• Tutorials – guides and manuals
  • Ru_Installation_guide.pdf – software installation guide (in Russian)
  • Ru_Theory.pdf – theoretical description of the dynamics and control + practical guide for working with the hardware platform (in Russian)
  • Eng_Installation_guide.pdf – software installation guide (in English)
  • Eng_Theory.pdf – theoretical description of the dynamics and control + practical guide for working with the hardware platform (in English)

Installation & Usage

• Install all required software according to the instructions in files Eng_Installation_guide.pdf or Ru_Installation_guide.pdf
• You can immediately flash the microcontroller with the firmware wheel_pendulum_practicum.ino
• After powering the pendulum control board, wait until the motor initialization completes. Then press the USR button to start the control system.
• To better understand the pendulum control theory, study files Eng_Theory.pdf or Ru_Theory.pdf. These files are written as lab manuals. For deeper understanding, complete all practical tasks and answer the review questions included in the text.