Some Pertinent Blog Posts

A project log for ZIPY : ZIPY Inverted Pendulum Yakshave

A hardware and software balancing cart pole.

Philip ZuckerPhilip Zucker 05/13/2018 at 21:460 Comments

Here is a description of some of the math of the control

And some more posts during the creation.

Here is an attempt at creating an Iterative LQR controller. Quite Slow, questionably working, but interesting.

MIT has a great course taught by Russ Tedrake (Lecture videos available online). This is where I learned about the control that we ended up using