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double_pendulum's Introduction

Double pendulum on cart

Overview

  • Stabilization
    • Calculations of three regulators: LQR, modal, H-infinity
    • Scheme of modeling for non-linearized and linearized pendulum system
  • Swing-up
    • Via BVP4C
    • Scheme of modeling
  • Scheme of combined system: Stabilization + Swing-up
  • Animation script

Requirements

  • MATLAB/Simulink 2020
  • CVX

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