Control System Design for Simultaneous Stabilization of Multiple Internet-Connected Inverted Pendulums Considering Communication Delay

This study examined the method to simultaneously conduct identical experimental classes across different locations, particularly considering the potential for remote classes during pandemics such as COVID-19. The goal was to achieve a system configuration that allows for distributed classes while maintaining a sense of unity, similar to in-person sessions. Hierarchical optimal control methods were applied for this purpose. Further-more, this study addresses the communication delays that occur during remote control between distant locations by applying the concept of state-prediction control in time-delay systems. This approach demonstrated the ability to calculate the current state of a counterpart from the past states, thereby mitigating the impact of delays. The effectiveness of this approach was demonstrated experimentally using an inverted penduluman iconic system used in control engineering education.