**PROGRAMMING**

The balance method on this report will be a full state feedback , calculating the gains using LQR. Both programs were done following the same algorithm.The programs used were Simulink and Bricx Command Center (NQC Language).

**Pseudo Algorithm:**
  - get the position value from encoder.
  - calculate velocity.
  - get the state matrix [u] with Pendulum pos. and vel. and Motor pos. and vel.
  - calculate motor input as [K]*[u]. Where [K] is the optimal gain matrix from LQR.
  - send input to motor 
  - repeat


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**TUTORIALS:**

  * [[lego_rip_prog_simulink|Simulink Programming]]
  * [[lego_rip_prog_nqc|Bricx Command Center Programming (NQC)]]