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Articles

This section contains a small selection of papers and articles for your enjoyment.  Please give feedback on any errors or omissions in anything you find here.

 

Application_of_Genetic_Programming_to_Underactuated_Mechanical_Systems.pdf

This is my Master's thesis.  The topic is basically "how to evolve programs to stabilize an inverted pendulum".  Lessons learned from this work:

  1. It's very, very hard to "evolve programs to stabilize an inverted pendulum".
  2. Although Matlab can be used to build a Genetic Programming system, there's a reason they're always created in Lisp instead.
  3. Passivity-based control is pretty cool.

 

More articles to come soon....


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