ECH FINAL PROJECT:

The project codes have been derived from Steve Burton’s Lectures on Youtube and adapted for the case of a double pendulum.

The instructions can be found on the code as well.

DIRECTIONS FOR USING THE CODE:

• Setup: The code requires all 4 files - simpend.m,drawpend.m,ODE_Equation_Formulation.m,pendcart.m - placed in the same file: The program can be run with just running ODE_Equation_Formulation.m and would need changes to the code to simulate LQR and Pole Placement methods. If one wishes, they can uncomment the drawpend function at the end of Simpend.m - Lines 129 - 131.

• Pole Placement: For simulating Pole Placement - the following lines must be commented: Lines 86 -94 I.e the Q matrix, value of R, and Value of K.

   									AND
  

  Lines 84 and 85 must be uncommented: i.e eigs = [] and K = ‘ ’

• LQR: Reverse the lines you commented in the Pole Placement and uncomment the ones you commented in Pole Placement and Comment the ones you uncommented.