The project allows you to visualize the motion of the double pendulum and compares the accuracy/behavior of the C++ implementation against the Python "ground truth" (or reference) implementation.

A full nonlinear simulation of a cart-pole system implementing energy-based swing-up control, LQR stabilization, and a Kalman observer — built entirely from scratch in Python. $$\ddot{x} = \frac{(I + ...

When you try to reproduce this physical model, many existing resources require paid tools, which is inconvenient for beginners. However, you can actually create an inverted pendulum model easily and ...