Currently I working on a humanoid robot using inverted pendulum model and use LQR for walking stabilizer. Input u is Torque, State x is angle and angular velocity and y output is angle.
I got the gain K value that meet my control specification (rise time, steady state error, etc) and the feedback control law like this
So now I got u(torque) value, but I don't know how to use u(torque) to move my actuator (to control 2 angkle servo) because my servo only move using angle as the command input, not torque. Is there any step that must be done to convert torque to angle? Or something? Thank You for the help, need this for my final project.