Control Bootcamp: Inverted Pendulum on a Cart

In this video, we introduce an example system to control: an inverted pendulum on a cart. We describe the state-space, find the fixed points, and simulate the system in Matlab. Because the linearized system is controllable, we will be able to arbitrarily place the eigenvalues of the closed-loop system through feedback in the next two videos.

Code available at:

These lectures follow Chapters 1 & 3 from:

Machine learning control, by Duriez, Brunton, & Noack

Chapters available at:


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