# cartpole

differential equations modeling the dynamics of a cartpole

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also
- References

## Syntax

f = cartpole(x,u,w)

## Description

Dynamic equation for the cartpole benchmark model. The system states are the position of the cart, the angle of the pole, the velocity of the car, and the angular velocity of the pole. The control input is the force acting on the cart.

## Input Arguments

x | system states x (dimension: [nx,1])
u | control inputs u (dimension: [nu,1])
w | disturbances w (dimension: [nw,1])

## Output Arguments

f | value of the dynamic function = time derivative of x

## See Also

-

## References

[1] S. Geva "A Cartpole Experiment Benchmark for Trainable Controllers", 1993

© 2018-2023 I6 Technische Universität München `•` Website `•` License