Delay Margin in Controlling a Furuta Pendulum

Abstract : 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.
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Submitted on : Wednesday, January 3, 2018 - 9:04:07 PM
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  • HAL Id : hal-01675004, version 1


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. XIX Congreso Mexicano de Robótica (COMRob 2017), Nov 2017, Mazatlán, Sinaloa, Mexico. (elec. proc.). ⟨hal-01675004⟩



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