UTILITIES

cartpend.m           — system of ODEs for inverted pendulum on a cart
drawcartpend.m       — draw inverted pendulum on cart
drawcartpend_bw.m    — draw with inverted colors


PRELIMINARIES

linearize_cartpend.m — test linearized dynamics
sim_cartpend.m       — simulate nonlinear dynamics


CONTROL AND ESTIMATOR DESIGN

poleplace_cartpend.m — pole placement for controllable system
lqr_cartpend.m       — design LQR full-state feedback controller
obsv_cartpend.m      - test observability
kf_cartpend.m        - design Kalman filter for full-state estimation


Simulink implementations of LQR and LQG in folder “simulink_LQR_LQG”
lqg_simulinkINIT.m   — initializes LQR feedback gains and Kalman filter system
lqr_cartpend_sim.slx — simulink model for LQR
lqg_cartpend_sim.slx — simulink model for LQG

cartpend_sim.*       — system block for inverted pendulum on cart