This paper presents a Furuta pendulum as a testbed to experimentally validate automatic control strategies or theoretical concepts associated with nonlinear systems. Herein, the modeling, simulation, and construction of a Furuta pendulum test-bed are introduced step-by-step. The development of the Furuta pendulum mathematical model is achieved by using Lagrange equations of motion. In contrast with other works, the development of this model includes an analysis of the system kinematics. Also, a numerical simulation of the mathematical model is performed via Matlab-Simulink. Furthermore, with the purpose of presenting a different tool for the modeling and simulation of dynamic systems, a graphical model and a graphical simulation of the Furuta pendulum are carried out by means of Working Model 3D. Moreover, a computer aided design of the system under study is accomplished through SolidWorks, based on such a design a test-bed is built. With the intention of verifying that the test-bed built behaves according to the models (numerical one and graphical one) presented herein, experiments with the test-bed in open-loop are carried out by using Matlab-Simulink, ControlDesk, and a DS1104 board from dSPACE.978-1-4799-7436-8/15/$31.00 ©2015 IEEE 978-1-4799-7436-8/15/$31.00 ©2015 IEEE

In this study, a control scheme that allows performing height position regulation and stabilization for an unmanned planar vertical take-off and landing aerial vehicle, in the presence of disturbance due to wind, is presented. To this end, the backstepping procedure together with nested saturation function method is used. Firstly, a convenient change of coordinates in the aerial vehicle model is carried out to dissociate the rotational dynamics from the translational one. Secondly, the backstepping procedure is applied to obtain the height position controller, allowing the reduction of the system and expressing it as an integrator chain with nonlinear disturbance. Therefore, the nested saturation function method is used to obtain a stabilizing controller for the horizontal position and roll angle. The corresponding stability analysis is conducted via the Lyapunov second method. In addition, to estimate the disturbance due to wind, an extended state observer is used. The effectiveness of the proposed control scheme is assessed through numerical simulations, from which convincing results have been obtained.

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