摘要：AbstractA possible explanation for a transient behavior of digitally controlled machines is presented. The mechanical system under study is an inverted pendulum controlled by a reaction wheel. A proportional-derivative feedback is used to control the unstable equilibrium of the pendulum. Modeling the quantization and the saturation of the applied control torque shows that these strong nonlinearities may change the local behavior of the system. Namely, control gains associated with a linearly unstable system can be stabilizing in the presence of control torque saturation. The results are demonstrated on an experimental device.
