Research Article
Proportional Retarded Controller to Stabilize Underactuated Systems with Measurement Delays: Furuta Pendulum Case Study
Table 1
Physical parameters of Furuta pendulum.
| Mass of the horizontal rod () | 0.431 kg | Length of the horizontal rod () | 0.262 m | Distance to center of gravity () | 0.131 m | Moment of inertia of the rod () | 0.012 kg m2 | Mass of the pendulum () | 0.128 kg | Length of the pendulum () | 0.47 m | Distance to center of gravity () | 0.185 m | Moment of inertia of pendulum () | 0.0035 kg m2 | Friction on () | 0.0032 kg m2/s | Friction on ϕ () | 0.004 kg m2/s | Motor constant () | 1.07 rad kg m2/s2 |
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