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Markov Decision Process - Pendulum Control

version (20.5 KB) by Matthew Kelly
Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.


Updated 21 Feb 2016

GitHub view license on GitHub

Takes a single pendulum (with a torque actuator) and models it as a Markov Decision Process (MDP), using linear barycentric interpolation over a uniform grid. Then, value iteration is used to compute the optimal policy, which is then displayed as a plot. Finally, a simulation is run to demonstrate how to evaluate the optimal policy.

Cite As

Matthew Kelly (2020). Markov Decision Process - Pendulum Control (, GitHub. Retrieved .

Comments and Ratings (1)

Karissa Stisser


Changed name

updated photo

added a photo.

Improved error handling regarding the MEX functions.

MATLAB Release Compatibility
Created with R2014a
Compatible with any release
Platform Compatibility
Windows macOS Linux