  Underactuated systems pose the challenge of being able to control a plant
whose degrees of freedom are not necessarily directly linked to an actuator or
where such a relationship is not straightforward. Rotary inverted pendulum is
an example of such systems, which on its simplest representation consists of a
pendulum whose vertical angle should be taken up to the upward unstable
position based on the impulse given from another bar and an appropriate control
strategy, bar that is controlled by an electrical motor. This problem is often
tackled by linear control theory with state-feedback controllers that is
frequently obtained by means of designing a feedback gain meeting some
constraints. This article reports a Bayesian Optimization approach for
designing a generalized state-feedback controller, that involves more
parameters than a simple state-feedback control law, but with the benefit of
achieving lower control effort in terms of the signal amplitude. The source
code is made publicly available to facilitate further research.
