Journal of Mechanical Science and Technology

, Volume 31, Issue 9, pp 4425–4433 | Cite as

Effects of nonlinear friction compensation in the inertia wheel pendulum

  • Carlos Aguilar-Avelar
  • Ricardo Rodríguez-Calderón
  • Sergio Puga-Guzmán
  • Javier Moreno-Valenzuela


This paper discusses for the first time the effects of modeling, identifying and compensating nonlinear friction for the control of the inertia wheel pendulum and proposes a new algorithm for the stabilization of the pendulum at the upward unstable position. First, it is shown that the dynamic model with the proposed asymmetric Coulomb friction component characterizes better the real experimental platform of the system. Then, a feedback linearization based controller with friction compensation was designed, where theoretical results show the stability of the output trajectories. Finally, the new algorithm was experimentally compared with its version without friction compensation, showing that the new scheme yields better performance with less power consumption.


Inertia wheel pendulum Stabilization Feedback linearization Real-time experiment 


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Copyright information

© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany 2017

Authors and Affiliations

  • Carlos Aguilar-Avelar
    • 1
  • Ricardo Rodríguez-Calderón
    • 1
  • Sergio Puga-Guzmán
    • 2
  • Javier Moreno-Valenzuela
    • 1
  1. 1.Instituto Politécnico Nacional-CITEDITijuanaMéxico
  2. 2.Tecnológico Nacional del MéxicoInstituto Tecnológico de TijuanaTijuanaMéxico

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