Multipendulum mechatronic setup: Design and experiments

In the paper a novel multipendulum mechatronic setup is described. The setup may be used for implementing different algorithms of estimation, synchronization and control and solving various research and educational tasks in hybrid modeling, analysis, identification and control of mechanical systems. It also allows one to study influence of the data communication protocols on dynamics of distributed mechatronic complexes. Experimental results confirming existence of the lower bound for transmission rate ensuring reasonable estimation accuracy under data rate constraints are presented.