A delayed state feedback law is presented to stabilize the inertia wheel pendulum, which guarantees the closed-loop system to be globally asymptotically stable in the presence of time delays.

用一个时滞状态反馈控制律镇定惯性轮倒立摆，不仅保证闭环系统全局渐近稳定，还允许闭环系统承受一定的时滞。

The i'esults of kinematiCs' analysis can be adopted to solve the rotational inertia of fly wheel mounted on the driving crank.

在运动分析的基础上，对系统进行受力分析，求解主动曲柄上需安装飞轮的转动惯量。

VIRW is a new momentum exchange device, which can provide attitude control torque not only by adjusting the spin rate, but also by changing the inertia of the wheel.

变惯量反作用飞轮是一种新型的动量交换装置，不仅可以通过改变飞轮转速输出力矩，还可以通过改变其转动惯量实现大范围的力矩输出。