Inverted Pendulum | Control Engineering

Physical Parameters

Cart Mass \( M \) (kg)

Pendulum Mass \( m \) (kg)

Pendulum Length \( l \) (m)

LQR Tuning

State Cost \( Q_{pos} \) (x)

State Cost \( Q_{angle} \) (θ)

Control Cost \( R \)

Initial Angle (deg)

Computed Feedback Gains

\( u = -K \mathbf{x} \) where \( \mathbf{x} = [x, \dot{x}, \theta, \dot{\theta}]^T \)

\( K_x \): -

\( K_{\dot{x}} \): -

\( K_\theta \): -

\( K_{\dot{\theta}} \): -

Real-Time Simulation

0°

Angle

Position

Force

Time