Mingkun tried to express the system of equations of inverted pendulum in acumen. What remains is to calculate a controlling force, F. Mingkun decided to approach this as a linear-quadratic-Gausian control problem. He has made some progress, is having some difficulty with using Mathematica properly (it's a new tool for him). We was stuck for a bit because StateSpaceModel was not a function available in the previous version of Mathematic, and so the system was not behaving as he expected. Now this problem has been resolved, and he is making progress. Going forward, he will focus more on the modeling and simulation of the robots rather than trying to develop sophisticated controllers (which is best done latter).
