Template value function in MPC #44
Description
- IP balance using LQR
- Visualize value function
- TSD anchoring 2x Q2D TSD model control via composition of Q2D value functions #50
- anchoring in body frame vs. world frame? see notes
- anchoring deals with Coriolis terms?
- coord change to double pendulum or acrobot
- compare MPC performance with smaller horizon, uninformative value func