SimplePendulum.mat

The underlying assumption that I make for this system are as follows:
•The mass of the pendulum’s ‘bob’ m = 1.
•The length of the pendulum’s string is L = 1m. 
•The acceleration due to gravity g is measured at 10 m/s2.
•The angle that is measured is the angle of the pendulum with respect to the horizontal in a clockwise direction. The angles measured are always positive and lie in the range of 0 deg to 359deg. If the angle measured goes above 360 or below zero it is adjusted by taking a modulus over 360.

•Torque values that are applied to the system are discrete. The values are either: -4, -2, 0, +2 or +4. A positive torque value denoted that the torque is applied in a clockwise direction and a negative in a counter clockwise direction.

•The ‘state’ of the system is measured as the combination of its angle w.r.t to the horizontal and the angular velocity at each time step.

•The time steps are measured at intervals of 1 second each.

•So the start state of the system is [270, 0] and the goal state is [90, 0].