Packet-based dynamic control of a Furuta Pendulum over Ethernet

This paper presents experimental results of the application of Packet-Based Control approach with dynamic controller on a real plant: the Furuta Pendulum. Despite its easiness of realization, Furuta Pendulum presents some features useful for our purposes, such as pretty non-linear dynamics, unstable equilibrium point and heavy dynamical inaccuracies. The network communication channel has been implemented using an Ethernet network. Packet-Based controller has been tested and compared with a classic local controller for different time-varying actuation delays. Results obtained corroborate the validity of the proposed architecture and highlight the robustness of this approach in the presence of actuation delays.