A recursive design method of stabilization controller for the inertia wheel pendulum

Aimed at the stabilization problem of the Inertia Wheel Pendulum system, a recursive design method of stabilization controller is present. And a state feedback controller with explicit form was obtained. The stability of the closed loop system was analyzed by input-to-state stability. Finally, the effectiveness and performance of the proposed stabilization controllers for an inertia wheel pendulum system with parameters taken from a real-life model of the IWP is shown through simulations.