zcartpole documentation

Model a cart with serial pendulum links, plan a swing-up, and record a closed-loop simulation with a chosen actuator. All physical inputs use SI units. The number of links is the length of the links array.

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Goal	Read
Install and run	Getting started
Run code for n = 1, 2, or 3	Code examples
Set parameters and control weights	Configuration, Actuators, Model and control workflow
Read a result or diagnose a failure	Outputs, Scope
Call Python functions directly	Python API
Check equations and numerical methods	Math: angles, dynamics, integration, LQR, swing-up
Build a package for PyPI	Release guide

The browser demo displays sample trajectories. Its parameters are not measured hardware data. The planner assumes ideal force; the subsequent simulation includes actuator dynamics and limits.