Controlling the Double Rotary Inverted Pendulum with Multiple Feedback Delays

[EN] The aim of this work is the development and implementation of a control structure for the double rotary inverted pendulum, suitable to be used in a Networked Control System environment. Delays are quite common in this kind of systems and, when controlling multivariable plants, it is possible that different delays are applied to the multiple inputs and outputs of them. A control structure that allows compensating individually each one of the multiple loop delays would be useful when one of these delays changes. Inverted pendulums are quite sensitive to delays and for this reason are appropriated plants to be used in these conditions. The control structure is developed modifying the control in no-delay conditions with a generalized predictor able to deal with unstable and non-minimum plants as the chosen one is. The proposed structure has been simulated and implemented to control a real double rotary inverted pendulum.This work was supported by the Spanish Ministerio de Ciencia y Tecnologa Project DPI2009-14744-C03-03, by Generalitat Valenciana Project GV/2010/018, and by Universidad Polit´ecnica de Valencia Project PAID06-08.Casanova Calvo, V.; Salt Llobregat, JJ.; Pizá Fernández, R.; Cuenca Lacruz, ÁM. (2012). Controlling the Double Rotary Inverted Pendulum with Multiple Feedback Delays. International Journal of Computers Communications & Control. 7(1):20-38. http://hdl.handle.net/10251/8178220387