A Networked Control System of Flexible Joint Inverted-Pendulum

To diminish the effect of network-induced delay on the performance of networked control system (NCS), the model of linear flexible joint inverted-pendulum was built, the LQR (linear quadratic regulator) optimized controller was designed and the controllability and stability of the system was analyzed. By examinating lots of experiment data, the distribution feature of network-induced delay in Ethernet network was analyzed using statistical method. A state predictor was designed based on improved discrete Kalman filter, with which the system states can be estimated at any time in the future. At last the integrated system was implemented completely, it demonstrats the feasibility of the state predictor, and the result of the experiments exhibites the good performance of the NCS for flexible joint inverted-pendulum.