2 posts tagged with "LQR"

A quadrotor has four rotors, six rigid-body degrees of freedom, and fully coupled rotational dynamics — it is the MIMO benchmark of aerial robotics. This post walks through the complete design pipeline: physics → linearisation → LQR → Neural-LQR residual → 3D simulation.

The inverted pendulum is the canonical benchmark of nonlinear control — unstable, simple enough to model analytically, yet rich enough to reveal the full LQR design workflow. This post derives the linearised model from physics and shows how to stabilise it with Synapsys in a few dozen lines of Python.