Neural Networks Application for the Data of PID Controller for Acrobot

Table 2

Parameters of the model.

Parameters and variables	Described
q1	Angle of link 1
q2	Angle of link 2
	Angle velocity of link 1
	Angle velocity of link 2
m1	Mass of link 1
O1	Length of link 1
Oc1	Distance from passive joint to the center of mass of the link 1
m2	Mass of link 2
O2	Length of link 2
Oc2	Distance from active joint to the center of mass of the link 1
J1	Moment of inertia link 1
J2	Moment of inertia link 2
	Gravitational acceleration
	Torque applied to active joint