Inverted Pendulum Simulation

A real-time inverted pendulum (cart-pole) simulation written in C using Raylib.

Features

• Automatic Control: Uses an LQR controller to balance the pole upright.
• Manual Control: Apply forces manually using the keyboard.
• Physics: Implements rigid-body dynamics using semi-implicit Euler integration.

Controls

• C - Toggle between Manual and Automatic control modes.
• Left / Right Arrow keys - Move the cart or adjust the target position ($x_{ref}$).

Build & Run

Requires Raylib installed on your system.

make      # Compile the project
make run  # Compile and run immediately
make clean # Remove build files