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Abstract
In this paper, modelling and parameter identification of an inertia wheel pendulum benchmark is considered. This is an underactuated mechanical system useful for teaching and research. Attention is focused on deriving a simple but accurate model capable of reproducing large amplitude oscillations. Due to the particular design of the prototype, the friction forces on the actuated joint are noticeable. A simple friction model including dead-zone effects and viscous terms is proposed, and a compensation method for the dead zone is derived. The accuracy of the compensation strategy and the predictive quality of the derived model are analysed by comparing numerical simulations with experimental data.