Emotional control of inverted pendulum system: A soft switching from imitative to emotional learning

Model-free control of unidentified systems with unstable equilibriums results in serious problems. In order to surmount these difficulties, firstly an existing model-based controller is used as a mentor for emotional-learning controller. This learning phase prepares the controller to behave like the mentor, while prevents any instability. Next, the controller is softly switched from model based to emotional one, using a FIS. Also the emotional stress is softly switched from the mentor-imitator output difference to the combination of objectives generated by a FIS which attentionally modulated stresses. For evaluating the proposed model free controller, a laboratorial inverted pendulum is employed.