Research articleControl of the rotary inverted pendulum through threshold-based communication

- Consumed bandwidth reduction in a NCS by means of threshold‐based communication.
- Determination of the optimal values of the thresholds using a simulation based.
- Application to the control of a real unstable plant: The rotary inverted pendulum.
- Communication between controller and plant through a real shared medium: TCP/IP.
- Around a 70% bandwidth reduction without significant performance degradation.

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.