LQR Balancing Robot Simulation
Two-Wheel Inverted Pendulum Model with LQR State Feedback Control
Position ($x$): 0.00 m
Velocity ($\dot{x}$): 0.00 m/s
Angle ($\theta$): 0.00°
Angular Vel ($\dot{\theta}$): 0.00°/s
Control Input ($u$): 0.00 N
Push Robot
Reset
LQR Gain & Setpoint Settings
Setpoint Position ($x_{ref}$):
0.0
m
Position Gain ($k_1$):
-25.0
Velocity Gain ($k_2$):
-18.0
Angle Gain ($k_3$):
-120.0
Angular Velocity Gain ($k_4$):
-22.0
Load Stable LQR Defaults