This research plan concerns the project of controllers for mechanical systems in which the communication between the controller and the plant, both the measurements and the controlling signal, occurs through a non-ideal communication channel. Particularly, we aim to study the effects of packet loss through the network. The project is going to be implemented in a rotary inverted pendulum whose modeling, identification and discretization are included in the project objectives. In addition, different models for the communication channel are going to be tested, e.g. the Gilbert-Elliot, Fritchman and McCullough models, including different probabilities for the events associated with the channel modeling.
News published in Agência FAPESP Newsletter about the scholarship: