Inverted pendulum

Control feedback with linearization and neural network for an inverted pendulum (single and on a cart)

Required Tools

• Git
• CMake
• clang
• curl
• Fortran
• HDF5
• OpenGL
• GLEW
• GLFW
• Dear ImGui
• implot

Getting Started

To get started with the control feedback:

1. Clone the repository:

   git clone https://github.com/azimonti/inverted-pendulum
   

2. Navigate to the repository directory:

   cd inverted-pendulum
   

3. Initialize and update the submodules:

git submodule update --init --recursive

Further update of the submodule can be done with the command:

git submodule update --remote

4. Compile the libraries in ma-libs

cd externals/ma-libs
# optional steps if dependencies are not installed globally
# ./manage_dependency_libraries.sh -d
# ./manage_dependency_libraries.sh -b
./cbuild.sh --build-type Debug --cmake-params "-DCPP_LIBNN=ON -DCPP_LIBGRAPHIC_ENGINE=ON"
./cbuild.sh --build-type Release --cmake-params "-DCPP_LIBNN=ON -DCPP_LIBGRAPHIC_ENGINE=ON"
cd ../..

If any error or missing dependencies please look at the instructions here

5. Compile the binaries

./cbuild.sh -t Release (or -t Debug)

6. Run the programs

./build/Release/pendulum_cart
./build/Release/pendulum

Screenshot 2 dimensional

Screenshot 3 dimensional