This is a nonlinear inverted pendulum simulation that visitors can change the controller in real time.

Here's a live demo: https://apollo314.github.io/inverted-pendulum-on-a-wheel/

npm install

npm run dev

npm run build

npm run lint

System parameters like mass of the wheel or the ball is located in lqr_gains_solver.py along with a linearized state space representation of the system.

Simulation happens via Runge–Kutta–Fehlberg method or RK4(5) method. it runs about 60 times a second.

It is slightly different than an inverted pendulum on a cart because we also have a rotating wheel with inertia. but other than that, everything is pretty much the same.