Kpid = chromosome.get_params()
pid.set_params(Kpid)
for c in range(chromosome.get_count()):
pid.clear()
pendulum.reset(upper=np.pi / 4)
response = []
for k in range(Iteration):
th = pendulum.get('th')
response.append(th)
pid.run(th, k)
cout = pid.get_control_out()
cout = np.clip(cout, -max_torque, max_torque)
pendulum.apply(cout)
temp_fitness = genetics.calc_fitness(response)
chromosome.add_fitness(temp_fitness)
genetics.update_genscore(chromosome.get_fitness())
if chromosome.get_fitness() > genetics.get_local_best_fitness():
genetics.set_local_best(chromosome)
if chromosome.get_fitness() > genetics.get_global_best_fitness():
genetics.set_global_best(chromosome)
genetics.update_averages()
genetics.natural_selection()
genetics.generate()
