Time-optimal control for reaction wheel pendulum

A control numerical algorithm solving the timeoptimal problem for the reaction wheel pendulum system, fully effective in the open loop, is examined in the real-time system. There are two control tasks. The first is to transfer the pendulum from the lower to the upper equilibrium point. The second is to transfer the pendulum from the upper to the lower equilibrium point. Both motions are accomplished in the minimal time. Simulated and realtime trajectories are compared. The time-optimal control strategy is concluded.