CartPole LQR Control

Linear Quadratic Regulator for stabilizing an inverted pendulum

Context

Implemented an LQR controller for the classic CartPole system to study optimal control and closed-loop stabilization.

My Contribution

  • Derived linearized system dynamics
  • Designed the LQR gain matrix
  • Simulated the closed-loop system
  • Visualized stabilization performance

Technical Details

  • State-space modeling
  • Riccati equation solution
  • Gain tuning and stability analysis

Result

  • Successful swing-up stabilization and a clean demonstration of optimal control fundamentals.
  • Repository: https://github.com/bxtbold/cartpole_lqr_control