Double inverted pendulum control using LQR and MPC
Control of a linearized double inverted pendulum using two different control techniques
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The following code performs two different techniques, optimal control and predictive control of a linearized double inverted pendulum on the upright equilibrium point.
Reference work:
Moysis, L. (2016). Balancing a double inverted pendulum using optimal control and Laguerre functions. Aristotle University of Thessaloniki, Greece, 54124.https://www.researchgate.net/publication/301635580_Balancing_a_double_inverted_pendulum_using_optimal_control_and_Laguerre_functions
See also the references cited in the paper.
Educational video on State Space Systems:
Youtube channel
Cite As
Lazaros Moysis (2026). Double inverted pendulum control using LQR and MPC (https://au.mathworks.com/matlabcentral/fileexchange/159141-double-inverted-pendulum-control-using-lqr-and-mpc), MATLAB Central File Exchange. Retrieved .
General Information
- Version 1.0.3 (2.79 KB)
MATLAB Release Compatibility
- Compatible with any release
Platform Compatibility
- Windows
- macOS
- Linux
