Assessing Controller Preference Reliability in Rotary Inverted Pendulum Simulations

This study evaluates the reliability of controller preferences under uncertainty using a rotary inverted pendulum benchmark. By conducting 30,000 closed-loop simulations with five fixed controllers across various uncertainty bands, the research quantifies controller separation and robustness. The findings highlight that while PID controllers showed the lowest robustness index, differences among leading controllers were minimal, emphasizing the challenge of declaring a definitive engineering preference under uncertainty.

Originally published by gnews