Article

python-control: State-Space Design and the Physical Closed Loop of an Inverted Pendulum

Using python-control as the vehicle, the article breaks down state-space control design, covering controllability and observability criteria, pole placement, the algebraic Riccati solution for LQR, the dual observer, and frequency-domain margins. It also deploys discrete LQR and an energy-based swing-up strategy into a MuJoCo cart-inverted-pendulum closed loop.

Part of the event: Dissecting State-Space Design and Inverted-Pendulum Closed Loop with python-control

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