Delay Problem in Rough Controller Design

. Experimental data used as a base for the design of rough controllers may result from measurements done in systems with a delay in the controller, which (even if the delay is purely deterministic) could make raw data look as if they were 'imprecise' or 'scattered'. Awareness of this phenomenon supported by frequency domain identification can improve the design of a rough controller. This problem is exemplified using a standard case study involving the stabilization of an inverted pendulum in two (simulated) systems. 1. Introduction In recent years much research is done on the design of rule based controllers, which (in contrast to ones based on the conventional, quantitative control theory) use fuzzy, neural or rough set approach to determine operational rules of a controller. We focus here on rough set approach, although the results may prove useful also for other types of rule based controllers. Typically, the stabilization of an inverted pendulum is taken as a standard benchmark ..