Control of the rotary inverted pendulum through threshold-based communication
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Updated: Mar 25, 2026

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Published on: February 23, 2024
Vicente Casanova1, José Alcaína1, Julián Salt1
1Department of Systems Engineering and Control Technical, University of Valencia, Cno de Vera s/n, 46022 Valencia, Spain.
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.
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