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The aim of this work is the development and implementation of a control structure for the double rotary inverted pendulum, suitable to be used in a Networked Control System environment. Delays are quite common in this kind of systems and, when controlling multivariable plants, it is possible that different delays are applied to the multiple inputs and outputs of them. A control structure that allows compensating individually each one of the multiple loop delays would be useful when one of thesedoi:10.15837/ijccc.2012.1.1420 fatcat:wzf7uaaedredrcpj5u2hsxcu2e