Cart-Pole Stabilization System
Energy-based swing-up control and LQR balancing for a pendulum system
This project involved controlling a cart-pole system by first swinging a resting pendulum upright and then stabilizing it near the vertical position. I implemented both an energy-based swing-up strategy and an LQR-based balancing controller.
Contributions
- Designed an energy-based control algorithm to dynamically swing the pendulum upright.
- Implemented an LQR controller to catch and stabilize the pendulum at the top.
- Built and tested the control logic for a nonlinear underactuated system.
Outcome
The project gave me strong hands-on experience in classic control design, system modeling, and balancing controller tuning.