This folder contains example scripts for the simulation and analysis of the double pendulum, acrobot and pendubot and the controllers.
The scripts are grouped into subfolders:
This folder contains scripts for the analysis, e.g. system identification, region of attraction estimation, ...
This folder contains scripts to perform the benchmark experiments for controllers.
This folder contains simulation scripts for the ideal, mathematical double pendulum. These simulation do not contain noise and the model parameters are assumed to be perfectly accurate.
This folder contains all scripts that have been used to obtain the results which are presented in the paper.
This folder contains scrips to optimize cost parameters of controllers and trajectory optimization.
This folder contains simulation scripts for more realistic conditions. The simulations contain noise and the model parameters parsed to the controller can vary from the real model parameters.
This folder contains scripts which (try to) recreate the results from other papers.