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Two subject groups were investigated: 6 subjects (MD) with many days of balancing a 90\u00a0cm stick on a linear track and 25 subjects (OD) with only one\u00a0day of balancing experience. The underlying mechanical model is a pendulum-cart system. Two control force models were investigated by means of numerical simulations: (1) delayed state feedback (DSF); and (2) delay-compensating predictor feedback (PF). Both models require an internal model and are subject to certainty thresholds with delayed switching. Measured and simulated time histories were compared quantitatively using a cost function in terms of some essential SPs for all subjects. Minimization of the cost function showed that the control strategy of both OD and MD subjects can better be described by DSF. The control mechanism for the MD subjects was superior in two aspects: (1) they devoted less energy to controlling the cart\u2019s position; and (2) their perception threshold for the stick\u2019s angular velocity was found to be smaller. Findings support the concept that when sufficient sensory information is readily available, a delay-compensating PF strategy is not necessary.<\/jats:p>","DOI":"10.1007\/s00422-023-00957-w","type":"journal-article","created":{"date-parts":[[2023,3,21]],"date-time":"2023-03-21T09:04:23Z","timestamp":1679389463000},"page":"113-127","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Controlling stick balancing on a linear track: Delayed state feedback or delay-compensating predictor feedback?"],"prefix":"10.1007","volume":"117","author":[{"given":"Dalma J.","family":"Nagy","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"John G.","family":"Milton","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tamas","family":"Insperger","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2023,3,21]]},"reference":[{"key":"957_CR1","doi-asserted-by":"publisher","first-page":"3861","DOI":"10.1109\/TAC.2016.2638961","volume":"62","author":"AD Ames","year":"2017","unstructured":"Ames AD, Xu X, Grizzle JW, Tabuada P (2017) Control barrier function based quadratic programs for safety critical systems. 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