Abstract
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.
