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

- Source: Guyuehome
- Published: 2026-11-03T03:12:00.000Z
- RoboHot: https://robohot.news/en/items/ulbjp9vuufet20wsbslu9kfot
- Original: https://www.guyuehome.com/detail?id=2109352608440283138

## Summary

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.