Balancing the inverted pendulum using position feedback

It is shown how to obtain asymptotic stability in second-order undamped systems using time-delay action in the feedback of position. The effect of the delay is similar to derivative feedback in modifying the behavior of the system. Results are given on the selection of the controller parameters both in the absence and the presence of additional delay ill the feedback path. The timelag position feedback is shown to compare favorably with the conventional PD controller in terms of stability. (C) 1999 Elsevier Science Ltd. All rights reserved.