swing-up

STEVAL-EDUKIT01 rotary inverted pendulum (Furuta pendulum) on STM32F401RE: bare-metal C firmware, MATLAB lab app, Simulink model, energy swing-up, LQR and PID balancing, system identification, all ten ENR312 control tutorials measured on the rig.

PPO swings up and balances 1, 2 and 3 pendulum links on a cart: MuJoCo, batched rollouts, trained from scratch on a laptop CPU.

FullStateFeedbackController

Project examining the simulation of single and double pendulums, and various control methods to reach equilibrium points such as PID and LQR controllers.

Balanceo y Estabilización de un Péndulo Invertido.

Closed-loop Newton swing-up, LQR and constrained MPC for an Acrobot (double pendulum) in Python. M.Sc. Optimal Control project, rebuilt and verified.

This is the code for various types of LQR and energy shaping swing up control of a simple pendulum.