This was a lab project during the bachelor’s in state-space control.
Even though it is a few years since then I am still proud of it because my state space controller worked out-of-the-box 🙂 I made kind of a “paper” about it, see below. The state-space controller for an inverse pendulum was always on my life-todo-list 😉
See it in action here! (explanation: NO, my controller is not buggy, but the position of the slider can be set by software; I set it to different positions and I even disturb the pendulum by tapping on it.)