Delay-Dependent Stability Analysis of Inverted Pendulum Controlled Over Communication Network

Abstract

In this paper, the sweeping test method is used for the first time to estimate the delay margin of the inverted pendulum system and to stabilize the system when the controlled signal is fedback through the communication network. In addition, the controller design based on a Linear Quadratic Regulator (LQR) is used. The delay margin is calculated by sweeping test to easily grantee the stability of the system with CAN bus. The results are tested through Matlab/Simulink simulation and show that the sweeping test method is an accurate method to compute the delay margin.