The single-pole balancing problem is easy enough for the NEAT algorithm, which can quickly find the optimal control strategy to maintain a stable system state. To make the experiment more challenging, we present a more advanced version of the cart-pole balancing problem. In this version, the two poles are connected to the moving cart by a hinge.
A schema of the new cart-poles apparatus is as follows:
The cart-poles apparatus with two poles
Before we move to the implementation details of the experiment, we need to define the state variables and equations of motion for the simulation of the double-pole balancing system.
