Time delay; Robust Control; Rotary Inverted Pendulum

These data correspond to simulations demonstrating the proficiency of the  robust H∞ performance analysis for a class of nonlinear time-delayed systems with external disturbance. For this purpose, an unstable nonlinear numerical system and a rotary inverted pendulum system have been studied in the simulation section. This experimental study of the practical rotary inverted pendulum is provided. These results confirm the expected satisfactory performance of the suggested method.