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Swing up,
Control playground · 02
Swing up,
catch, balance.
A cart drives two serial links from the hanging equilibrium toward upright. Watch a trajectory-optimized controller catch the remaining motion—or take over the actuator and attempt the swing-up yourself.
Live model
Serial double pendulum
Cart position
Link 1 angle
Link 2 angle
Actuator force
What this demonstrates. The automatic run tracks one precomputed swing-up trajectory for two seconds, then hands off to a local upright LQR law. Manual mode exposes the same force-limited plant without feedback so you can attempt the swing-up directly. The automatic controller recovers from the offered ±2 N·s impulses in this model, but it is not a globally stabilizing swing-up law. With feedback off, modest viscous friction at both joints dissipates the links’ motion toward the hanging configuration.