title: Control of the rotary inverted pendulum through threshold-based communication.
abstract: This paper deals with the real implementation of an event-based control structure for the classical rotary inverted pendulum. The communication between controller and plant is performed through Ethernet (TCP/IP) which leads to a Networked Control System. The bandwidth used by the control loop is reduced, compared with the one that needs a conventional control, by using a threshold-based communication. The values of the thresholds have been determined by means of simulation techniques. The results over the real plant show how this technique can reach a significant reduction of the bandwidth consumed with a negligible worsening of the performance.
authors: Department of Systems Engineering and Control Technical, University of Valencia, Cno de Vera s/n, 46022 Valencia, Spain. Electronic address: vcasanov@isa.upv.es.
authors: Vicente
authors: V
authors: Casanova
authors: Department of Systems Engineering and Control Technical, University of Valencia, Cno de Vera s/n, 46022 Valencia, Spain. Electronic address: joalac@isa.upv.es.
authors: José
authors: J
authors: Alcaína
authors: Department of Systems Engineering and Control Technical, University of Valencia, Cno de Vera s/n, 46022 Valencia, Spain. Electronic address: Julian@isa.upv.es.
authors: Julián
authors: J
authors: Salt
authors: Department of Systems Engineering and Control Technical, University of Valencia, Cno de Vera s/n, 46022 Valencia, Spain. Electronic address: rpiza@isa.upv.es.
authors: Ricardo
authors: R
authors: Pizá
authors: Department of Systems Engineering and Control Technical, University of Valencia, Cno de Vera s/n, 46022 Valencia, Spain. Electronic address: acuenca@isa.upv.es.
authors: Ángel
authors: Á
authors: Cuenca
keywords: Bandwidth saving; Event-based control systems; Networked control systems