Stabilization Control for a Serial Double Inverted Pendulum with Observation-Time-Delay Using Delayed Feedback

Abstract

In this paper, the stabilization problem of a plant with known delay in observation is studied. Although several methods, the Smith predictor or the state predictive control, have already been proposed about the control of plant with time delay, theoretical limitations and the practical inconvenience were left to be solved; e. g., the Smith predictor can only treat the stable systems, and the numerical integration of the exponential function is difficult in the state predictive control. The presented method combines the state feedback control with the delayed feedback control, which can stabilize the unstable systems and can be easily performed. The numerical simulation of the stabilization of the serial double inverted pendulum shows that the proposed method can he applied to stabilization of the unstable system and is effective for the impulsive disturbance.