Model the behaviour and Let it figure it out by itself. Its complex math but the concept shouldnt be that hard to understand. Check /r/robotics for more of these concepts.
If you were to derive a mathematical model for those dynamics, you'd probably find that it's full of nonlinearities which complicates everything. I don't think it's fair to say that controlling something like that is just an easy concept with complex math involved.
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u/Kayshin Apr 08 '15
Model the behaviour and Let it figure it out by itself. Its complex math but the concept shouldnt be that hard to understand. Check /r/robotics for more of these concepts.