Reaction Wheel Stabilized Stick

Abstract: Control theory can be used to make an unstable system stable. This thesis seeks to do this, where the system is a two DOF inverted pendulum with reaction wheels for stabilisation. The thesis also seeks to answer what is most important for making it stabilize for a longer period of time. It was decided that a state space controller was to be used with various sensors measuring the states. To be able to design a functioning demonstrator, a mathematical model of the system dynamics was developed. In the end the demonstrator proved to function as desired, being able to balance indefinitely. It was found that it is absolutely necessary to either give the controller a perfect set point or to implement an automatic set point.