Balancing a Flying Inverted Pendulum with an Unknown Length Using Model Predictive Control and a Genetic Algorithm Estimator

Esther Paul; Mitchell Torok; Mohammad Deghat

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arXiv · 2608.17256

Balancing a Flying Inverted Pendulum with an Unknown Length Using Model Predictive Control and a Genetic Algorithm Estimator

Esther Paul·Mitchell Torok·Mohammad Deghat

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Abstract

This paper proposes an online Genetic Algorithm (GA) estimator and a Model Predictive Control (MPC) approach to solve the flying inverted pendulum problem in a practical experiment where the pendulum length is unknown. The performance of the MPC approach was demonstrated on a practical system through disturbance and trajectory tracking tests to assess controller robustness and tracking accuracy. The convergence speed and accuracy of the online GA estimator were validated on a practical system using different initial conditions.

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Esther Paul, Mitchell Torok, Mohammad Deghat. 2026-08-18. Balancing a Flying Inverted Pendulum with an Unknown Length Using Model Predictive Control and a Genetic Algorithm Estimator. https://arxiv.org/abs/2608.17256

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