Inverted Pendulum Control

The classic inverted pendulum, where you must move a cart to keep the pendulum in a vertical position.

• state vars = [x, v, theta, omega] with x [m] and v [m/s] the position and velocity of the cart, and theta and omega the angle [rad] and angular velocity [rad/s] of the pendulum with respect to the vertical.
• input = a force F [N] applied to the cart
• limits on input: -10 < F < 10

File description

• InvertedPendulum.m : All-in-one easy to run recap file
• InvertedPendulum.mp4 : Video of a full run of InvertedPendulum.m
• Plot.m : Used for making the majority of the plots for the presentation
• StateSpace.mlx : Used to model our controllers + documentation of the process
• Plots-Video/README.txt : Comments on some of the plots in Plots-Video
• Controller.py : Main python file used for the control
• src/Pendulum.py : Contains the nonlinear pendulum model
• Block Diagrams : Contains block diagrams of the used controlled systems
• closeSessions.bat : For an easy run of the Python simulations just using Matlab (ONLY FOR WINDOWS)