inverted pendulum
A free physics simulation — play it in your browser, no install. A real-time inverted pendulum simulator featuring an LQR controller and custom RK4 physics based on Lagrangian mechanics, built with Electron and vanilla JavaScript.
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Controls: Push Left / Push Right — apply a disturbance force for 30 frames
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Open the live demo Source on GitHubFrom the README
A real-time desktop simulation of a pole balancing on a moving cart, controlled by an LQR algorithm, the same principle used in self-balancing robots, Segways, and rocket guidance systems.
k_theta is nearly 10× larger than k_x, which reflects a deliberate tuning choice: angle deviation is penalised far more heavily than cart position, so the controller willingly lets the cart drift laterally to keep the pole upright.
Pushing the cart past its recoverable limit causes the controller to fail. That's the physics working as intended, not a bug.
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