Simulation

For all the simulations and the training data set additive Gaussian observation noise with $\sigma=0.001$ and Gaussian process noise with $\sigma=0.001$ were used. For the performance comparison between NMPC and OIC, the length of the control horizon was set to 40 time steps corresponding to 2 seconds of system's time. The simulations were run for 70 time steps corresponding to 3.5 seconds of system's time to ensure that the controller was able to stabilise the pole.