Stability of the Furuta pendulum with delayed digital controller

Balancing with a digitally controlled Furuta pendulum is investigated. As a digital effect, the sampling delay is taken into account in the system model. The actuator is modeled by means of the characteristic of a DC motor. The control is considered as a linear feedback of the pendulum position, angular velocity and arm angular velocity. The corresponding continuous and discrete time models are derived. Stability charts are obtained for different sampling times, also the critical sampling time is determined. The theoretical results are compared to experiments, which show satisfactory agreement with each other, which highlights the importance of sampling delay in both the real and modeled system behavior. Copyright (C) 2021 The Authors.