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A.1- Free Motion Behavior of the Furuta Pendulum.
A.2-Controlled Motion with no Delay on the Feedback Loop.
A.3- Controlled Motion with a 50% Delay of the Critical Delay Value.
A.4- Controlled Motion with a 90% Delay of the Critical Delay Value.
A.5- Unstable Response of the Furuta Pendulum with a Critical Delay Value.
A.6- Smooth Time Delay Variation of the System Transient Response from 0% to the Critical Delay Value.
(Up-Nonlinear Model, Down-Linear Model).

The development of this work it is currently submited to revision for the COMRob-17 under the title: 

"Delay Margin in Controlling a Furuta Pendulum"

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