Torque-limited Simple Pendulum Logo

Table of Contents

  • Introduction
  • Installation Guide
  • Usage Instructions
  • The Physics of a Simple Pendulum
  • Simulator
  • Hardware Setup
  • Trajectory Optimization
  • Reinforcement Learning
  • Trajectory-based Controllers
  • Policy-based Controllers
    • Gravity Compensation Control
    • Energy Shaping Control
    • LQR Control
  • Controller Analysis
  • How to Contribute
  • Software Documentation
Torque-limited Simple Pendulum
  • Policy-based Controllers
  • View page source

Policy-based Controllers

  • Gravity Compensation Control
    • Theory
  • Energy Shaping Control
    • Theory
    • API
    • Usage
  • LQR Control
    • Theory
    • API
    • Usage
    • Comments
    • Region of Attraction (RoA) estimation
      • SOS method
        • Maximization of \(\rho\): Simple line search
        • Maximization of \(\rho\): Equality-constrained formulation
      • Probabilistic Method
      • Comments
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