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Inverted Pendulum

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A simple simulator to test control algorithms in C++

Inverted pendulum in open-loop

Inverted pendulum in closed-loop with PID

Inverted pendulum in closed-loop with LQR

Notes

This simulator is being developed on Ubuntu using the Windows Subsystem for Linux (WSL)

Dependencies

Build Instructions

  1. Clone this repo.
  2. Make a build directory: mkdir build && cd build
  3. Compile: cmake .. && make
  4. Run it: ./cartpole

Guidelines

References

Projects

Tutorials

Books

  • Åström, K. J., & Murray, R. M. (2021). Feedback systems: An introduction for scientists and engineers (2nd ed.). Princeton University Press. (online)