def __main__(): time = 0.01 P = SimplePendulum(g = 9.82, b = 0.0, m = 1, l = 1, timestep = time, \ init_angle = radians(20), init_angle_speed = 0.001, noise = np.array([[0], [0]])) C = SimplePendulumController(P, K_LQR = np.array([ [200, 30] ]),K_SU = 3000, \ setpoint = np.array([[np.radians(180)], [0]]), \ outmax = 1, outmin = -1, SwingupLimit = radians(1)) G = StatePlotter(timestep = time) Plotter = DrawPendulum(P, C, G, frameskip = 4) Plotter.startAnimation(speedup = 0.5) G.plotData("state.png", "phase.png")
def __main__(): time = 0.01 P = SimplePendulum(g = 9.82, b = 0.0, m = 1, l = 1, timestep = time, \ init_angle = radians(20), init_angle_speed = 0.001, noise = np.array([[0], [0]])) C = SimplePendulumController(P, K_LQR = np.array([ [200, 30] ]),K_SU = 3000, \ setpoint = np.array([[np.radians(180)], [0]]), \ outmax = 1, outmin = -1, SwingupLimit = radians(1)) G = StatePlotter(timestep=time) Plotter = DrawPendulum(P, C, G, frameskip=4) Plotter.startAnimation(speedup=0.5) G.plotData("state.png", "phase.png")
def __main__(): P = SimplePendulum(g = -9.82, b = 1, m = 1, l = 1, timestep = .01, \ init_angle = radians(5), init_angle_speed = 0) C = SimplePendulumController(P, outmax = 100, outmin = -100) Plotter = DrawPendulum(P, C) Plotter.startAnimation()
def __main__(): P = SimplePendulum(g = -9.82, b = 1, m = 1, l = 1, timestep = .01, \ init_angle = radians(5), init_angle_speed = 0) C = SimplePendulumController(P, outmax=100, outmin=-100) Plotter = DrawPendulum(P, C) Plotter.startAnimation()