The Pole Balancing Problem with Enzymatic Numerical P Systems

Abstract

Pole balancing is a control benchmark widely used in engineering. It involves a pole a xed to a cart via a joint which allows movement along a single axis. In this problem, the movement of the cart is restricted to the horizontal axis by a track and the pole is free to move about the horizontal axis of the pivot. The system is extremely unstable and, the cart must be in constant movement in order to preserve the equilibrium and avoid the fall of the pendulum. In this paper, we study the pole balancing problem in the framework of Enzymatic Numerical P Systems and provide some clues for using them in more complex systems.