Abstract
This paper presents simulation and experimental studies of controls for time-delayed dynamical systems. An inverted pendulum made by Quanser is used as a model system. We investigate two control design methods: optimal feedback gain with the semi-discretization method and a high-order control design. Both simulations and experiments are carried out to demonstrate the utility of the control. The semi-discretization method offers optimal controls without increasing the dimensions of the gain vector, while high-order control involves an increased number of gains. The disadvantages and advantages of both methods are discussed with the support of simulation and experimental results. This paper highlights the fact that high-order control is determined by an Nth order filter where N is the discretization level. We have also found that the performance of high-order control appears to be insensitive to N.
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