Markov Decision Process - Pendulum Control

Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.

Takes a single pendulum (with a torque actuator) and models it as a Markov Decision Process (MDP), using linear barycentric interpolation over a uniform grid. Then, value iteration is used to compute the optimal policy, which is then displayed as a plot. Finally, a simulation is run to demonstrate how to evaluate the optimal policy.