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

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ngupta1024/PendulumHW

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LQR_discrete.m~

LQR_discrete.m~

 
 

README.md

README.md

 
 

ft_LQR_conti.m

ft_LQR_conti.m

 
 

ft_LQR_discrete.m

ft_LQR_discrete.m

 
 

ft_LQR_discrete.m~

ft_LQR_discrete.m~

 
 

inf_LQR.m

inf_LQR.m

 
 

linDynamics.m

linDynamics.m

 
 

linear_pid.m

linear_pid.m

 
 

pend_animation.m

pend_animation.m

 
 

plot_figs.m

plot_figs.m

 
 

setParams.m

setParams.m

 
 

simplePendDynamics.m

simplePendDynamics.m

 
 

swingUpPend.m

swingUpPend.m

 
 

swingUpPend.m~

swingUpPend.m~

 
 

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PendulumHW

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

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swing plots animation up pendulum lqr discrete-time finite-horizon infinite-horizon swing-up

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