Acrobat and Cart pole control by using LQR

Version 1.0.0 (2.65 KB) by Krishna Prakash Yadav
Linear control of the underactuated system
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Updated 1 Sep 2020

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1. linearized the model about an unstable fixed point
2. find A B Q R matrix.
3. K value using lqr
4. find the control and feedback.

courtesy: MITOCW, and Russ Tedrake
content is taken from Underactuated robotics and Spong paper.

Cite As

Krishna Prakash Yadav (2024). Acrobat and Cart pole control by using LQR (https://www.mathworks.com/matlabcentral/fileexchange/79760-acrobat-and-cart-pole-control-by-using-lqr), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2020a
Compatible with any release
Platform Compatibility
Windows macOS Linux
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Version Published Release Notes
1.0.0