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An inertia wheel pendulum is a pendulum with an inertia wheel attached. It can be used as a pedagogical problem in control theory. This type of pendulum is often confused with the gyroscopic effect, which has completely different physical nature.
See also

Inverted pendulum
Robotic unicycle
Spinning top

References

Mark W. Spong, Peter Corke, Rogelio Lozano. Nonlinear Control of the Gyroscopic Pendulum.

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