junhengl / Cart_Pole_Simulink

Optimal Control Strategies on Cart-pole System in Simscape Multibody Simulation

Cart_Pole_Simulink

Optimal Control Strategies on Cart-pole System in Simscape Multibody Simulation

My video tutorials are available on Bilibili.com. (will add English subs asap)

Part 1: building cart-pole simulation with Simscape multibody library.

https://www.bilibili.com/video/BV19M4y1E799/?spm_id_from=333.999.0.0

Part 2: deriving cart-pole dynamics, linearization, and LQR control implementation.

https://www.bilibili.com/video/BV1AF411R7T6/?spm_id_from=333.999.0.0

Part 3: implementing full dynamics Nonlinear MPC in matlab for cart-pole system with CasADi.

https://www.bilibili.com/video/BV1gu411j7ZV/?spm_id_from=333.999.0.0

Part 4: learning a regression model for NMPC via LSTM neural network in matlab.

https://www.bilibili.com/video/BV1UV4y1478M/?spm_id_from=333.999.0.0

Simulation Guide

1. Download all files in this repo
2. Download CasADi Library for Matlab, for your system
3. In Matlab, add files from step 1&2 to path, including subfolders
4. Open Cart_Pole.slx, this is main simulation
5. Open and run startUp.m
6. Configure your controller in startUp and simulink model and run the simulation.