February 2022

Motivation: Silicon Synapse Lab, Northeastern University task

Details: We were a team of two who contributed to making this project under the guidance of our professor.

Tools and Resources:

• Simulink

Steps followed:

1. Derive the dynamical equations using Lagrangian method (energy based)
2. Implement the equations in Simulink model
3. Implement Model Predictive Controller (MPC) to stabilize the joint angles
4. Tune MPC and check the output as shown by below images.

As can be seen from the above results, the pendulum stabilizes itself after ~ 9 seconds with the help of MPC controller. Hence, task objective is achieved.