The Cubli: A reaction wheel based 3D inverted pendulum

Mohanarajah Gajamohan, Michael Muehlebach, Tobias Widmer, Raffaello D'Andrea. The Cubli: A reaction wheel based 3D inverted pendulum. In European Control Conference, ECC 2013, Zurich, Switzerland, July 17-19, 2013. pages 268-274, IEEE, 2013. [doi]

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