Inverted Pendulum

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

• cmake
• make
• gcc/g++
• eigen (included)
• sfml
• googletest (optional)
• sciplot (optional)

Build Instructions

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

Guidelines

• Google's C++ style guide
• Udacity Git Commit Message Style Guide

References

Projects

• CartPole-v1
• Riccati_Solver

Tutorials

• Install WSL on Windows 10
• Install SFML in Linux
• Install sciplot
• Build googletest

Books

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