{"id":"https://openalex.org/W2005192761","doi":"https://doi.org/10.1109/mmar.2014.6957384","title":"Tracking control of an inertial wheel pendulum by LQR regulation","display_name":"Tracking control of an inertial wheel pendulum by LQR regulation","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2005192761","doi":"https://doi.org/10.1109/mmar.2014.6957384","mag":"2005192761"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2014.6957384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2014.6957384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059923570","display_name":"Adam Owczarkowski","orcid":"https://orcid.org/0000-0002-1398-6484"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Adam Owczarkowski","raw_affiliation_strings":["Institute of Control Information Engineering, Poznan University of Technology, Poznan, Poland","Institute of Control, Information Engineering, Poznan University of Technology, Poland, Poznan"],"affiliations":[{"raw_affiliation_string":"Institute of Control Information Engineering, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]},{"raw_affiliation_string":"Institute of Control, Information Engineering, Poznan University of Technology, Poland, Poznan","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039625730","display_name":"Marcin Lis","orcid":"https://orcid.org/0000-0001-7046-591X"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Marcin Lis","raw_affiliation_strings":["Institute of Control Information Engineering, Poznan University of Technology, Poznan, Poland","Institute of Control, Information Engineering, Poznan University of Technology, Poland, Poznan"],"affiliations":[{"raw_affiliation_string":"Institute of Control Information Engineering, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]},{"raw_affiliation_string":"Institute of Control, Information Engineering, Poznan University of Technology, Poland, Poznan","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030331349","display_name":"Piotr Kozierski","orcid":"https://orcid.org/0000-0001-8777-6132"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Piotr Kozierski","raw_affiliation_strings":["Institute of Control Information Engineering, Poznan University of Technology, Poznan, Poland","Institute of Control, Information Engineering, Poznan University of Technology, Poland, Poznan"],"affiliations":[{"raw_affiliation_string":"Institute of Control Information Engineering, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]},{"raw_affiliation_string":"Institute of Control, Information Engineering, Poznan University of Technology, Poland, Poznan","institution_ids":["https://openalex.org/I46597724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5059923570"],"corresponding_institution_ids":["https://openalex.org/I46597724"],"apc_list":null,"apc_paid":null,"fwci":2.0288,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.8758505,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"384","last_page":"388"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9728999733924866,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9728999733924866,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11081","display_name":"Advanced Control Systems Design","score":0.9427000284194946,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9383999705314636,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7600829601287842},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.6044397354125977},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5975420475006104},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5771378874778748},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.480517715215683},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4375225901603699},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.4350922107696533},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3535239100456238},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25983574986457825},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15716606378555298},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08782878518104553},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.05865177512168884}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7600829601287842},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.6044397354125977},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5975420475006104},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5771378874778748},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.480517715215683},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4375225901603699},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.4350922107696533},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3535239100456238},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25983574986457825},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15716606378555298},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08782878518104553},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.05865177512168884},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar.2014.6957384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2014.6957384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2136420993","https://openalex.org/W2145030746","https://openalex.org/W2147762717","https://openalex.org/W2156859362","https://openalex.org/W2158051514","https://openalex.org/W2167120102","https://openalex.org/W2408348312","https://openalex.org/W6714201513"],"related_works":["https://openalex.org/W2128411881","https://openalex.org/W2792503992","https://openalex.org/W1986042079","https://openalex.org/W2164325508","https://openalex.org/W2023146749","https://openalex.org/W2895153715","https://openalex.org/W2319557179","https://openalex.org/W2043512372","https://openalex.org/W2158120962","https://openalex.org/W2980849648"],"abstract_inverted_index":{"This":[0,26],"article":[1],"describes":[2],"universal":[3],"tracking":[4],"control":[5],"method.":[6],"It":[7],"is":[8,20,27],"based":[9],"on":[10],"model":[11,58],"linearization":[12],"in":[13],"every":[14],"point":[15],"of":[16,35,42,44,59,75],"trajectory.":[17],"Tested":[18],"device":[19],"an":[21,28],"inertial":[22],"wheel":[23],"pendulum":[24],"(IWP).":[25],"underactuated":[29],"nonlinear":[30],"object":[31,61],"-":[32],"two":[33],"degrees":[34],"freedom":[36],"(angle":[37],"from":[38],"vertical":[39],"and":[40,47,56,69,72,78],"angle":[41],"rotation":[43],"electric":[45],"motor)":[46],"one":[48],"actuator":[49],"(current).":[50],"The":[51],"linear":[52],"quadratic":[53],"regulator":[54],"(LQR)":[55],"the":[57,60,76],"are":[62,67],"analytically":[63],"considered.":[64],"Many":[65],"experiments":[66],"presented":[68],"confirm":[70],"proper":[71],"stable":[73],"operation":[74],"system":[77],"some":[79],"constraints.":[80]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}