A Replicator Dynamics Weighted Control Technique for Two Coupled Pendulums

By combining different control methods, we can obtain a desired performance in a control system. In this work, we introduce a novel technique that uses a controller that is based on an energy system for the inverted pendulum, combined dynamically with an optimal controller. The dynamic combination of these two controllers is based on a population dynamics approach, which gives more weight to the controller that is designed to perform better in a given region. The controller is tested on a classical experiment used to illustrate decentralized controllers: the two inverted pendulums coupled by a spring (TPCS) system. Some simulations comparing our novel technique and the one that has been used are shown.