Control of a cart-pendulum system from Quanser. Includes swing-up using nonlinear MPC and LQR for stabilization. Simulations are done purely in Matlab. The interface for real system control is implemented in Simulink.
Controller with +- 10V inputs on a simulated system:
Controller with +- 20V inputs on a simulated system:
Controller on a physical laboratory system: https://www.youtube.com/watch?v=D_lewvvNofU