<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>2227-1899</journal-id>
<journal-title><![CDATA[Revista Cubana de Ciencias Informáticas]]></journal-title>
<abbrev-journal-title><![CDATA[Rev cuba cienc informat]]></abbrev-journal-title>
<issn>2227-1899</issn>
<publisher>
<publisher-name><![CDATA[Editorial Ediciones Futuro]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S2227-18992019000400030</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Control de balanceo de una motocicleta autónoma mediante una rueda de reacción]]></article-title>
<article-title xml:lang="en"><![CDATA[Balancing control of an autonomous bicycle using a reaction wheel]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Morales Corral]]></surname>
<given-names><![CDATA[Camilo]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Rocha Morelos]]></surname>
<given-names><![CDATA[Daniela Oralia]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Soto Marrufo]]></surname>
<given-names><![CDATA[Israel]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Benítez González]]></surname>
<given-names><![CDATA[Ivón Oristela]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad Autónoma de Ciudad Juárez  ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>México</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad Tecnológica de La Habana &#8220;José Antonio Echeverría&#8221;  ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Cuba</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>12</month>
<year>2019</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>12</month>
<year>2019</year>
</pub-date>
<volume>13</volume>
<numero>4</numero>
<fpage>30</fpage>
<lpage>42</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_arttext&amp;pid=S2227-18992019000400030&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_abstract&amp;pid=S2227-18992019000400030&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_pdf&amp;pid=S2227-18992019000400030&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[RESUMEN Uno de los prototipos más empleados para la enseñanza de estrategias de control moderno son los llamados péndulos invertidos: péndulo invertido, carro péndulo, péndulo con rueda inercial o de reacción, entre otros. En este trabajo se presenta el control de balanceo de una motocicleta autónoma, el control está basado en la metodología de diseño de controladores por ubicación de polos la cual requiere de las ecuaciones de movimiento del sistema linealizadas que también se presentan en este trabajo. Los resultados en simulación y experimentales permiten concluir que el diseño del controlador es óptimo.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[ABSTRACT One of the most used prototypes for teaching strategies of modern control are the inverted pendulums: inverted pendulum, pendulum car, pendulum with inertial wheel or reaction wheel, etc. On this paper, was presented the balancing control of an autonomous motorcycle, the controlled was develop using the pole placement design methodology, which requires the linearized system movement equations that are also presented in this work. The simulation and experimental results allow to conclude that the controller design is optimal.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[motocicleta autobalanceada]]></kwd>
<kwd lng="es"><![CDATA[controlabilidad]]></kwd>
<kwd lng="es"><![CDATA[Arduino]]></kwd>
<kwd lng="en"><![CDATA[self-balancing motorcycle]]></kwd>
<kwd lng="en"><![CDATA[controllability]]></kwd>
<kwd lng="en"><![CDATA[Arduino]]></kwd>
</kwd-group>
</article-meta>
</front><back>
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