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 m^2
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 m^2
Friction on ()	0.0032 kg m^2/s
Friction on ϕ ()	0.004 kg m^2/s
Motor constant ()	1.07 rad kg m^2/s^2