Modeling and Construction of an Inertia Wheel Pendulum Test-Bed

This paper presents the detailed deduction of an inertia wheel pendulum (IWP) mathematical model, through the Lagrange equations of motion. Also, a mechanical design and the construction of the IWP are introduced step by step. This with the purpose of providing a material that can be useful in the easy comprehension of an IWP mathematical model and to accomplish the construction of an IWP in a relatively short time. The mechanical design is carried out by using the software Solid Works. Moreover, numerical simulations of the deduced mathematical model are performed via Mat lab-Simulink. Furthermore, in order to verify that the IWP built behaves according to the mathematical model herein deduced, experimental tests are carried out by using such an IWP, Mat lab-Simulink, Control Desk, and a DS1104 board from d SPACE.