Project - Inverted-Pendulum-Controller

The Problem statement for this project is explained in the doc/ProblemStatement.pdf

Inverted Pendulum Model

This Project:

• Implements an LQR Controller
• Simulates the response for initial conditions
• Linearizes the system and simulates the response
• Implements the Non-linear system and simulates the response
• Uses the Lyapunov's indirect method to certify Stability of the system
• Identifies the combination of Input and Output where the system is Observable
• Obtains the Luenberger Observer and SImulates the responses for both Linearized system and Original Non-Linear system

Note: Some of the results are not good. This project needs more improvement

Dependencies

• Matlab 2018a and above

Execution

• Run the live scripts provided in the mcodes/ to reproduce the results
• View the plots in the plots/ to view the results

Results

The mathematical derivations and outputs are explained in the report doc/Report.pdf

See how it works

Non-linear response of the system with LQR Controller