spong_controller_params_named_vector.yaml

namespace: drake::examples::acrobot
elements:
# Note: default parameter values are taken from:
#   Spong, Mark W. "Swing up control of the acrobot." Robotics and Automation,
#   1994. Proceedings., 1994 IEEE International Conference on. IEEE, 1994.
  -
    name: k_e
    doc: Energy shaping gain.
    doc_units: s
    default_value: 5.0
    min_value: 0.0
  -
    name: k_p
    doc: Partial feedback linearization proportional gain.
    doc_units: s^-2
    default_value: 50.0
    min_value: 0.0
  -
    name: k_d
    doc: Partial feedback linearization derivative gain.
    doc_units: s^-1
    default_value: 5.0
    min_value: 0.0
  -
    name: balancing_threshold
    doc: Cost value at which to switch from swing up to balancing.
    doc_units:
    default_value: 1e3
    min_value: 0.0