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()