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mahmoudyasser32 / repository
This project implements a full modeling, simulation, and real-time control solution for the Furuta Pendulum (rotary inverted pendulum) system using MATLAB/Simulink and embedded hardware (ESP32 + sensors). The control system is designed using Linear Quadratic Regulator (LQR) methods and validated through Hardware-in-the-Loop (HIL) simulation.
This repository contains a complete implementation of a control system for a Furuta Pendulum (rotary inverted pendulum) using MATLAB/Simulink and an ESP32-based hardware setup. The project focuses on modeling, simulation, control design (LQR), and real-time validation via Hardware-in-the-Loop (HIL) testing.
📍 Developed as part of the Hybrid Control Systems (MCT411s) course
🏫 Faculty of Engineering, Ain Shams University
The Furuta Pendulum is a nonlinear, underactuated system used extensively to test advanced control strategies. This project demonstrates:
lqr() functionWe use a Linear Quadratic Regulator (LQR) to minimize the following cost function:
J = ∫ (xᵀ Q x + uᵀ R u) dt
Where:
Q: Weight matrix penalizing state deviationsR: Weight matrix penalizing control effortK: Feedback gain matrix computed via lqr(A, B, Q, R)The control law is:
u = -Kx
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