Basic Inverted Pendulum using LQR

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This is a basic inverted pendulum system using an LQR controller.
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i am working on this since 3 days still didnt figure out what
s the issue

shivambisen
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PID or LQR? Idk which one's the best and for what each performs better

BRSkyFalcon
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Can you give me the lqr algorithm (code) in matlab

kimtienle