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This work addresses the stabilization of an inertial wheel pendulum in its vertical position using a delay-based control strategy. The proposed approach consists of two distinct controllers: (i) a swing-up controller designed to drive the system toward the upper equilibrium point, and (ii) a delayed-state feedback controller ensuring asymptotic convergence to the origin. The effectiveness of the proposed method is demonstrated through both numerical simulations and experimental results.

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Delay-Based State Feedback Control for the Inertial Wheel Pendulum

  • 会议论文

  • 发表日期：

    2026年

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  • Julián-Alejandro Hernández-Gallardo,
  • Diego Torres-García,
  • Erick Moreno-Negrete,
  • Cecilia E. García Cena,
  • Emilio J. Gonzalez-Galvan,
  • César-Fernando Méndez-Barrios

摘要

This work addresses the stabilization of an inertial wheel pendulum in its vertical position using a delay-based control strategy. The proposed approach consists of two distinct controllers: (i) a swing-up controller designed to drive the system toward the upper equilibrium point, and (ii) a delayed-state feedback controller ensuring asymptotic convergence to the origin. The effectiveness of the proposed method is demonstrated through both numerical simulations and experimental results.