Delay Margin in Controlling a Furuta Pendulum

José-Enrique Hernández-Díez (1) , Silviu-Iulian Niculescu (2, 3) , César Fernando Méndez Barrios (1) , Emilio-Jorge González-Galván (1) , Ambrocio Loredo-Flores (4) , Juan Antonio Escareno (5, 6)

1 UASLP - Facultad de Ingeniería
2 L2S - Laboratoire des signaux et systèmes
3 DISCO - Dynamical Interconnected Systems in COmplex Environments
4 UASLP - Universidad Autonoma de San Luis Potosi [México]
5 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
6 IPSA - Institut Polytechnique des Sciences Avancées

This paper focuses on the design of an LQR based control scheme for the stabilization of the Furuta Pendulum in its unstable equilibrium point at the upright position. More precisely, we are interested in characterizing the corresponding delay margin under the assumption that the feedback loop includes time-delay. The paper provides an explicit tool to compute the critical delay value in the state feedback loop and a delicate tuning to reach larger delay values. In order to illustrate the effectiveness of the proposed control scheme, some numerical results are presented.

Domaines: Automatique / Robotique

José-Enrique Hernández-Díez, Silviu-Iulian Niculescu, César Fernando Méndez Barrios, Emilio-Jorge González-Galván, Ambrocio Loredo-Flores, et al.. Delay Margin in Controlling a Furuta Pendulum. COMRob 2017 - XIX Congreso Mexicano de Robótica, Nov 2017, Mazatlán, Sinaloa, Mexico. (elec. proc.). ⟨hal-01675004⟩