Teleoperation of inverted pendulum using wave variables in the framework of reflection coefficient

Teleoperation is the remote control of machines where haptic feedback can enhance performance by improved telepresence. Due to its closed-loop nature, any transmission delay can potentially cause instability. There has been extensive research into this problem using a variety of compensation algorithms, frequently using remote environment of various stiffness and perhaps viscosity. This research presents a study on the teleoperation of an inverted pendulum using wave variables. A more quantitative analysis method based on reflection coefficients is also introduced that allow improved tuning of the control parameters.