The single-pole balancer (or inverted pendulum) is an unstable pendulum that has its center of mass above its pivot point. It can be stabilized by applying external forces under the control of a specialized system that monitors the angle of the pole and moves the pivot point horizontally back and forth under the center of mass as it starts to fall. The single-pole balancer is a classic problem in dynamics and control theory that is used as a benchmark for testing control strategies, including strategies based on reinforcement learning methods. We are particularly interested in the implementation of the specific control algorithm that uses neuroevolution-based methods to stabilize the inverted pendulum for a given amount of time.
The experiment described in this chapter considers the simulation of the inverted pendulum implemented as a cart that...