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http://dx.doi.org/10.5302/J.ICROS.2006.12.4.346

Control of an Inverted Pendulum System with CAN for Communication Medium  

Cho Sung-Min ((주)삼성전자)
Choi Hyoun-Chul (아주대학교 전자공학부)
Hong Suk-Kyo (아주대학교 전자공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.4, 2006 , pp. 346-352 More about this Journal
Abstract
In a networked control system (NCS), time delays which are larger than one sampling period can change the control period. As a result, it may cause system instability. This paper presents a control method for an NCS using the controller area network (CAN), where time delays arise in the control loop. Specifically, a simple yet efficient method is proposed to improve control performance in the presence of time delays. The proposed method, which can be regarded as a gain scheduling method, selects a suitable LQ control gain among several gains to deal with the problems due to the change of control period. It is found that the gain can be scheduled in terms of the relation between the gain and the sampling period, which is represented by first-order algebraic equations. The proposed method is evaluated with an inverted cart pendulum system where the actuator and sensors are connected through the CAN. Experiment results are presented to show the efficiency of the proposed method.
Keywords
time delay; gain scheduling; controller area network; inverted pendulum;
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