In this lab we will use the theory on optimal control we have seen in the lectures to design a time-optimal controller for a pendulum on a cart and introduce obstacles in the path of the pendulum as physical constraints.

The manual for the lab can be found here, and the files here. Note that the programming language Julia will not be used in the lab this year.

Signup is done here.

Home assignments can be found in the lab manual. These should be completed before the lab session. If you are stuck, come to an exercise session and we will help you! Note that it is highly recommended that you complete exercise 10 (Optimal control I) before starting the preparatory exercises.