Inverted pendulum control with allowance for energy dissipation

The behavior of an inverted pendulum hinged on the wheel axis is studied. An algorithm is proposed for solving both the problem of pendulum stabilization in a given position relative to the vertical and the problem of controlling the velocity of the platform on which the pendulum is located under conditions of energy dissipation. Recommendations on choosing control system parameters are given, and the time of transitional processes is estimated.