Double inverted pendulum control using LQR and MPC

Control of a linearized double inverted pendulum using two different control techniques

The following code performs two different techniques, optimal control and predictive control of a linearized double inverted pendulum on the upright equilibrium point.

Reference work:

Moysis, L. (2016). Balancing a double inverted pendulum using optimal control and Laguerre functions. Aristotle University of Thessaloniki, Greece, 54124.https://www.researchgate.net/publication/301635580_Balancing_a_double_inverted_pendulum_using_optimal_control_and_Laguerre_functions

See also the references cited in the paper.

Educational video on State Space Systems:

https://www.youtube.com/watch?v=iuXoJrNSt-M

https://www.youtube.com/watch?v=tMl5hnr_AZI

Youtube channel

https://www.youtube.com/@lazarosmoysis5095