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

Control feedback with linearization and neural network for an inverted pendulum (single and on a cart)
https://github.com/azimonti/inverted-pendulum

feedback-controller feedback-loop inverted-pendulum neural-networks pendulum pendulum-simulation

Last synced: 3 days ago
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Control feedback with linearization and neural network for an inverted pendulum (single and on a cart)

• Host: GitHub
• URL: https://github.com/azimonti/inverted-pendulum
• Owner: azimonti
• License: mit
• Created: 2024-09-18T00:42:04.000Z (over 1 year ago)
• Default Branch: master
• Last Pushed: 2025-03-22T03:09:05.000Z (12 months ago)
• Last Synced: 2025-03-30T19:23:02.521Z (12 months ago)
• Topics: feedback-controller, feedback-loop, inverted-pendulum, neural-networks, pendulum, pendulum-simulation
• Language: C++
• Homepage:
• Size: 165 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# 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 binaries and the libraries

  ```

  ./build_libs.sh

  ```

  If any error or missing dependencies please look at the instructions [here](https://github.com/azimonti/ma-libs)

5. Run the programs

  ```

  ./externals/ma-libs/build/Release/pendulum_cart

  ./externals/ma-libs/build/Release/pendulum

  ```

## Screenshot 2 dimensional

![Pendulum](screenshots/pendulum_2d.png)

![Pendulum Cart](screenshots/pendulum_cart_2d.png)

## Screenshot 3 dimensional

![Pendulum](screenshots/pendulum_3d.png)

![Pendulum Cart](screenshots/pendulum_cart_3d.png)

## License

This project is licensed under the MIT License - see the [LICENSE](LICENSE) file for details.

## Contact

If you have any questions or want to get in touch regarding the project, please open an issue or contact the repository maintainers directly through GitHub.