Mechatronic design of a self-balancing three-dimensional inertia wheel pendulum.

The reaction moments of the inertia wheels are used to swing up and stabilize the cube. EC motors are directly driving the inertia wheels. After accelerationg the wheels to an inital speed the wheels are deacellerated quickly so that the interita cube swings up. Trajectories for swinging up are calcluated by an optimization algorithm. Dimensions of the cube are chosen with a side length of 20 cm. Till now we could swing up the cube from the edge with a starting position of 20 degrees. This angle should be r