Cart-pendulum example for Robot Design Studio 2020
Application entry point is main.m, which calls (through wrapper functions) dynamics-related functions that are automatically generated by running derive_equations.m.
derive_equations.m uses symbolic computation to generate the state-space dynamics of the cart-pendulum, which are then exported as MATLAB functions (e.g., autogen_drift_vector_field.m and autogen_control_vector_field.m).
Additional symbolic math related to optimal swingup control is also implemented in derive_equations.m.