Introduction Nonlinear optimal control with Excel Solver Runge-Kutta

This section deals with swing-up control of a single-axis arm robot. Minimizes the torque when swinging up. Because of the low torque, solvers have come up with a solution that shakes in the opposite direction and builds up momentum.The Runge-Kutta method is implemented in Excel spreadsheets to solve nonlinear differential equations.The Hamiltonian remains constant even in the nonlinear case.