A model of the Furuta pendulum based on the article Furuta's Pendulum: A Conservative Nonlinear Model for Theory and Practise by J. ́A. Acosta. The model interface is based on Interactive Programmatic Modeling by D. Broman.

Under most circumstances the imperative interface is preferred. The functional style interface is there mainly for completeness.

Installing dependencies via the pip package manager:

pip install numpy scipy matplotlib

Make sure to run make coherent to ensure that the version from setup.py gets propagated to the module.

Build the package using the setup.py script:

python setup.py sdist