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Acrobot by Daniel Simu | Shows, speaking, workshops - Acrobot
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https://www.mathworks.com/matlabcentral/fileexchange/57884-acrobot-swing-up-control-partial-feedback-linearization?s_tid=blogs_rc_4
Acrobot swing-up control - Partial Feedback Linearization - File Exchange - MATLAB Central
Download and share free MATLAB code, including functions, models, apps, support packages and toolboxes
swing upfeedback linearizationfile exchangeacrobotcontrol