Akreon Tutorial Series
From Dynamics to Feedback with Uncertainty
A Cartpole-based tutorial arc for understanding decision systems under uncertainty.
Overview
One system, the full decision loop
This tutorial arc uses the cartpole system as a compact example of Akreon's broader decision engine thesis. Across the series, we move from nonlinear dynamics to state-space models, feedback synthesis, observer design, optimal control, and uncertainty modeling.
The goal is not just to stabilize a toy system. The goal is to expose the recurring structure behind real decision problems: state, dynamics, objectives, constraints, uncertainty, and feedback.
Rendered Notebook
Technical reference
The consolidated notebook will provide equations, derivations, numerical results, and visualizations for the complete arc.
Rendered notebook — publication pendingPublished first as a rendered technical reference. Source code and package release may follow after licensing, documentation, and API boundaries are finalized.
Video Series
Watch the tutorial arc
A companion video series will walk through the derivations, design choices, results, and limitations in each part.
YouTube playlist — publication pendingPosts / Chapters
Six parts
- Part 01
Equations of Motion
Analysis of the Cartpole Equations of Motion
- Part 02
Linearization to State Space
Linearization to a State-Space Model
- Part 03
State Feedback via LMIs
State-Feedback Synthesis via LMIs
- Part 04
Observer Feedback
Synthesizing a Luenberger Observer
- Part 05
Optimal Control Design
Optimal Control with LQR and Hâ‚‚ Feedback
- Part 06
Uncertainty Modeling
Uncertainty Modeling with Polytopic LMIs
Status
Publication in progress
Videos, posts, and a rendered notebook are being published first. A public source release may follow after licensing, documentation, and API boundaries are finalized.