michalnand / libs_control

python lib for linear quadratic control

libs_control

• linear controllers from scratch
• based on solving Riccati equation
• LQR, LQR+integral action, LQG+integral action

servo control

• 3rd order servo control
• live example with code for stm32f0 brushless motor control

balancing robot

• classical inverted pendulum problem
• goal is to control angle, position and steering

spring wheels

• this great challenging test is taken from www.do-mpc.com
• goal is to control position of wheels

LQR controller

basic minimal tutorial for 2nd order servo : 01_lqr_servo.ipynb

LQR with integral action controller

• completly removes any constant disturbance

basic minimal tutorial for 2nd order servo : 02_lqr_integral_action_servo.ipynb

LQG controller

• dont require observing fully state
• uses Kalman filter to estimate x, from y, and u, and also provides denoising

basic minimal tutorial for 2nd order servo : 03_lqg_servo.ipynb

sparse model identification

04_sparse_model_identification.ipynb

TODO

• embedded LibsControlEmbedded - not done

• working live aplication : brushless motor control

• MPC