This paper presents the design and simulation of a global controller for the Reaction Wheel Pendulum system using energy regulation and extended linearization methods for the state feedback. The proposed energy regulation is based on the gradual reduction of the energy of the system to reach the unstable equilibrium point. The signal input for this task is obtained from the Lyapunov s... https://www.roneverhart.com/M-M-s-Milk-Chocolate-Candy-Teal-2LB-Bag/