Adds some more model error to the cartpole.
Model error is tuned such that the MPC controller can still track it but has pretty bad tracking performance.
Note that increasing either the viscous or coloumb friction coefficients will cause the MPC to fail (which maybe we do want).
Main contributions
Added some more nonlinear behavior to cartpole model in examples/models/cartpole_model.jl
Added the Problems.NominalCartpole() and Problems.SimulatedCartpole() convenience constructors
Added example of using MPC to track the "true" model with an MPC controller generated using the nominal one in examples/cartpole_mpc.jl
Takeaways
Use the new methods Problems.NominalCartpole() and Problems.SimulatedCartpole() when generating the cartpole models so that all of our examples are consistent
Summary
Adds some more model error to the cartpole. Model error is tuned such that the MPC controller can still track it but has pretty bad tracking performance. Note that increasing either the viscous or coloumb friction coefficients will cause the MPC to fail (which maybe we do want).
Main contributions
examples/models/cartpole_model.jlProblems.NominalCartpole()andProblems.SimulatedCartpole()convenience constructorsexamples/cartpole_mpc.jlTakeaways
Problems.NominalCartpole()andProblems.SimulatedCartpole()when generating the cartpole models so that all of our examples are consistent