Simple Model-Free Controller for the Stabilization of Planetary Inverted Pendulum

Table 2

Parameters of the coding.

Variable	Length chromosome	Lower bound	Upper bound
𝜆1	𝑛1=15	𝑆1=−50	𝐿1=50
𝜆2	𝑛2=20	𝑆2=−500	𝐿2=500
𝜆3	𝑛2=40	𝑆3=−1000	𝐿3=1000