A standard comparison of adaptive controllers to solve the cart pole problem

The cart-pole problem is an example of an inherently unstable dynamical system and has been widely used to test adaptive controllers. While various researchers have applied a range of adaptive controllers to solve the problem, there has been little work done on comparing the results of these methods. To compound this, researchers have used differing configurations of the cart-pole system. This work compares three common techniques used to solve the cart-pole problem. The cart-pole controllers are assessed on the basis of balancing time and centring/oscillation ability for a standardised configuration. Comparative results are given