Inverted_pendulum

Rviz2 Visualization

Tf Definitions

Rqt_graph

Controller Implementation:

1. PI (Proportional- Integral)

K_p = 0.27, K_I = 0.26

working_example.mp4

2. LQR (Linear Quadratic Regulator)

K = [0, 1.5, 0, 0.4] for state vector = [cart_position, roll angle, cart_velocity, roll_velocity]

inverted_pendulum_lqr.mp4