A Real-Time Image Encryption Method of Networked Inverted Pendulum Visual Servo Control System

Algorithm 1

ISDIE algorithm.

	Input: The original inverted pendulum image
	Output: The encrypted image
(1)	to with the stepsize of 1 do
(2)	For to with the stepsize of 1 do
(3)	, ,
(4)	If , end if
(6)	If , end if
(7)	For to with the stepsize of 1 do end for
(8)
(9)	End for
(10)	For to with the stepsize of 1 do
(11)	, ,
(12)	If , end if
(13)	If , end if
(14)	For to with the stepsize of 1 do end for
(15)
(16)	End for