Control of the rolling of a wheel by changing its imbalance

The motion of a wheel (rolling without slipping) in a vertical (longitudinal) plane is considered. The load, which is modelled as a point mass, can be moved within the wheel in a hollow which is positioned along its diameter. By moving the load from one end of the hollow to the other in a specific way, it is possible to manage the rolling of the wheel. An algorithm is constructed for control of the position of the load using which the load is periodically moved from one end of the hollow to the opposite end while the wheel rolls (non-uniformly) over the surface.