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MAIN_solvePendulum.m
MDP_Pendulum.m
README.md
TEST_barycentric.m
barycentricInterpolate.m
barycentricInterpolate.prj
barycentricWeights.m
barycentricWeights.prj
drawBoundingBox.m
pendulumController.m
pendulumDynamics.m
pendulumSystem.m
rk4.m
smoothEdgePenalty.m

README.md

README -- Markov Decision Process - Pendulum

This directory contains code for finding the optimal policy for an inverted pendulum, given actuator and state limits.

Entry-point scripts:

  • MAIN_solvePendulum.m Script containing all user-set parameters. It calls the function to build the MDP and then solve for the optimal policy.

  • TEST_barycentric.m Script that is used to test the barycentric interpolation functions, which are crucial in the conversion from a continuous to a discrete system.