Synchronization of nonlinear systems over intranet: Cart-pendulum case study

The master-slave synchronization problem for two cart-pendulum systems when both measurement and control signals are transmitted via intranet communication channel is examined. The speed-gradient method for exciting master system and linear state feedback for slave system is used. Theoretical analysis is performed by the nonlinear extension of Fridman´s method. Experimental results are presented for a cart-pendulum system constructed from Lego. Theoretical bound for sampling interval guaranteeing synchronization is about h=0.1 sec. Such bounds are positive for control over intranet and very negative for control over internet. However experiments show that real values of the communication delays are even bigger.