56 lines
1.3 KiB
Markdown
56 lines
1.3 KiB
Markdown
# Enviroments
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| Name | Linear | Nonlinear | State Size | Input size |
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|:----------|:---------------:|:----------------:|:----------------:|:----------------:|
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| First Order Lag System | ✓ | x | 4 | 2 |
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| Two wheeled System (Constant Goal) | x | ✓ | 3 | 2 |
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| Two wheeled System (Moving Goal) (Coming soon) | x | ✓ | 3 | 2 |
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| Cartpole (Swing up) | x | ✓ | 4 | 1 |
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## [FistOrderLagEnv](PythonLinearNonlinearControl/envs/first_order_lag.py)
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### System equation.
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<img src="assets/firstorderlag.png" width="550">
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You can set arbinatry time constant, tau. The default is 0.63 s
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### Cost.
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<img src="assets/quadratic_score.png" width="300">
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Q = diag[1., 1., 1., 1.],
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R = diag[1., 1.]
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X_g denote the goal states.
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## [TwoWheeledEnv](PythonLinearNonlinearControl/envs/two_wheeled.py)
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### System equation.
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<img src="assets/twowheeled.png" width="300">
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### Cost.
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<img src="assets/quadratic_score.png" width="300">
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Q = diag[5., 5., 1.],
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R = diag[0.1, 0.1]
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X_g denote the goal states.
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## [CatpoleEnv (Swing up)](PythonLinearNonlinearControl/envs/cartpole.py)
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## System equation.
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<img src="assets/cartpole.png" width="600">
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You can set arbinatry parameters, mc, mp, l and g.
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Default settings are as follows:
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mc = 1, mp = 0.2, l = 0.5, g = 9.81
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### Cost.
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<img src="assets/cartpole_score.png" width="300"> |