Controller Design for Rotary Inverted Pendulum System Using Evolutionary Algorithms

Figure 14

System response: (a) pendulum angle, (b) arm angle, and (c) energy signal, with 𝛽=1 subjected to the band-limited white noise (noise power = 0,000523 and sampling time = 0.1 sec) and 10% disturbance.

(a)

(b)

(c)