Very cool. tl;dw: an inverted triple pendulum has 2^3 = 8 equilibria, since each arm of the pendulum can either be up or down (naturally, all but one equilibria are unstable), and this controller is able to make all 8*7 = 56 transitions between them.
Control theory is one of those things that shouldn't possibly work, yet here we are.
Liftyee•1h ago
Neat!
Useful revision of the engineering kinematics I covered a while ago.
djoldman•3h ago
As an aside: thanks to the author for pre-rendering the latex as the page looks pretty much the same with JS on or off.
Pre-render your latex!
https://katex.org/
AndrewOMartin•41m ago