This project simulates a cart–pole system (inverted pendulum) controlled by a PID feedback loop. The goal is to keep the pendulum balanced in an upright position (θ = 0°) by applying a horizontal ...

A full nonlinear simulation of a cart-pole system implementing energy-based swing-up control, LQR stabilization, and a Kalman observer — built entirely from scratch in Python. $$\ddot{x} = \frac{(I + ...

When you try to reproduce this physical model, many existing resources require paid tools, which is inconvenient for beginners. However, you can actually create an inverted pendulum model easily and ...

Once you step into the world of controls, you quickly realize that controlling even simple systems isn’t as easy as applying voltage to a servo. Before you start working on your own bipedal robot or ...