Proportional Retarded Controller to Stabilize Underactuated Systems with Measurement Delays: Furuta Pendulum Case Study

<div>Root of quasi polynomial (<a href="https://static.hindawi.com/articles/mpe/volume-2017/2505086/figures/#EEq10">11</a>).</div>

Mathematical Problems in Engineering

Figure 2: Proportional Retarded Controller to Stabilize Underactuated Systems with Measurement Delays: Furuta Pendulum Case Study 