Controller Design for Rotary Inverted Pendulum System Using Evolutionary Algorithms

Figure 15

System response: (a)  pendulum angle, (b)  arm angle, and (c)  energy signal, with 𝛽=1.5 subjected to the band limited white noise (noise power = 0,000523 and sampling time = 0.1 sec) and 10% disturbance.

(a)

(b)

(c)