You are supposed to use the simplified model without the state $z(t)$ (as described in the homework assignment). You cannot directly constrain the $\theta$ angle, you need to tune the LQR so that the angle in simulation is within the specified bounds.
Optimal and Robust Control
B3M35ORR + BE3M35ORR + BE3M35ORC
This course is part of an already archived semester and is therefore read-only.