https://www.mathworks.com/matlabcentral/fileexchange/54386-optimtraj-trajectory-optimization-library https://www.mathworks.com/matlabcentral/fileexchange/51197-inverted-pendulum-model-predictive-control https://www.mathworks.com/matlabcentral/fileexchange/40745-comparing-different-methods-to-solve-an-inverted-pendulum-problem - toto je primo v matlab napovede (\MATLAB\Examples\R2019b\mpc\SwingupControlOfPendulumUsingNMPCExample) https://www.mathworks.com/help/mpc/ug/swing-up-control-of-a-pendulum-using-nonlinear-model-predictive-control.html
https://www.mathworks.com/matlabcentral/fileexchange/54386-optimtraj-trajectory-optimization-library
https://www.mathworks.com/matlabcentral/fileexchange/51197-inverted-pendulum-model-predictive-control
https://www.mathworks.com/matlabcentral/fileexchange/40745-comparing-different-methods-to-solve-an-inverted-pendulum-problem