🌀 Furuta Rotary Inverted Pendulum: Energy Swing-Up and LQR Balance

Interactive Furuta pendulum: nonlinear two-degree-of-freedom Lagrangian dynamics, energy-shaping swing-up, a Riccati-solved LQR balance controller, motor voltage limit and disturbance kicks, with live phase portraits and three numerical checks.

2D · HTML5 Canvas 2D · 60 FPS target · runs fully client-side, no install