Abstract
This paper presents the design, modeling and control of a flywheel actuator for mobile platform stabilization. A Lagrangian-based model couples platform mechanics with DC-motor electromechanics. Analytical calculations estimate natural frequencies, damping and actuator limits. Numerical simulations in Python 3.12 evaluate cascade and state-feedback controllers for suppressing free oscillations and rejecting external disturbances. Additional studies examine filtering to improve measurement quality and unloading strategies to avoid actuator saturation. The results validate the proposed control architecture and demonstrate its applicability to robotic and energy systems operating under dynamic loads.