Inverted Pendulum Hybrid Control Simulation

A beginner Python simulation of a cart-pendulum system with automated parameter optimization and a dual-phase control strategy.

Core Features

• Hybrid Control: Transition from energy-based swing-up control to PID stabilization (±15° equilibrium threshold).
• Automated Optimization: Hyperparameter tuning using scipy.optimize to minimize cost functions (position drift, angular error, and control effort).
• Wizualizacja & Analytics: Real-time physics rendering with Pygame and post simulation performance plotting using Matplotlib.

Project Structure

• config.py - System constants, physical parameters, and structural constraints - feel free to experiment and see how the system behaves.
• physics.py - Equations of motion and Euler integration.
• optimization.py - Cost function definitions and optimization.
• main.py - Core simulation, UI rendering, and data logging.

Installation & Usage

1. Install Dependencies:

2. pip install pygame scipy matplotlib