Tutorials

This section contains a series of tutorials to help you use the diffiLQRax package for optimal control.

Linear Quadratic Regulator (LQR) Problem

Demos

LQR optimal control of integrator dynamics

Optimal control of integrator dynamics

LQR tracking optimal control of integrator dynamics

Optimal control of integrator dynamics with tracking

Iterative Linear Quadratic Regulator (iLQR) Problem

Demos

iLQR solver for simple pendulum

Optimal control of pendulum

iLQR Optimal Control compared with Gradient Descent

iLQR Optimal Control Compared with Gradient Descent for a Pendulum with a Sliding Pivot

iLQR solver Implicit vs. Direct gradients

Implicit gradients through iLQR solver