Controls

Multi-Link Pendulum Balancing

Stabilizing a serially-connected multi-link inverted pendulum in MATLAB — the same control problem that underpins humanoid balance.

Pendulum balancing project
Type
Controls / Simulation
Tool
MATLAB / Simulink
Method
[LQR / MPC]

Overview

[Describe the system — number of links, the dynamics, why inverted pendulum control is relevant to legged/humanoid robotics.]

Approach

  • [Derived equations of motion / dynamics model]
  • [Designed controller — LQR, MPC, or nonlinear]
  • [Simulated disturbance recovery]

Result

[How well did it stabilize? Recovery time from disturbance, robustness, etc.]

Tools & Tech

MATLAB Simulink Control Theory