bxtbold / cartpole_lqr_control

The repository is created to control a cart-pole system using LQR Control

cartpole_lqr_control

The repository is created to control a cart-pole system using LQR Control. In the following system,

• pole mass m = 1 kg
• cart mass M = 10 kg
• link length L = 1 m
• time step dt = 0.1 s
• time range trange = 5 s
• gravitational acceleration g = 9.81 m/s^2

Initial conditions:

• pole angle: 10 degrees
• init velocity: 0 m/s

The pole placement method is also available in the main.m file and you can use it to comment out the LQR section and uncomment out the pole placement part. And for animation, you also need to uncomment Animation part.

The resulting LQR responses are the same as the following: