In Sec.1 we should define the state-space matrix and after that define system.
Fig.1 – The model of Inverted Pendulum
Fig.2 – The Simulation without Controller
In Sec.2 controllability and observability are checked.
In Sec.3 we want to simulate a closed-loop system with LQR.
In Sec.4 figure!
Fig.3 – The Simulation with LQR
In Sec.5 adding an observer and simulate again
In Sec.6 figure!
Fig.1 – The Finall Simulation