PROJECTDynamics & control

Nonlinear Model Predictive Control.

Modeling an inverted pendulum from first principles and developing a constrained nonlinear controller for hardware deployment.

Dynamics & controlConcept illustration

Engineering projectOngoing

01 /

Project overview

Derive nonlinear state-space dynamics for an inverted pendulum from first-principles mechanics and build a custom RK4 physics simulation engine.

Formulate a discrete-time nonlinear model predictive controller in CasADi to solve constrained real-time optimization problems.

Enforce state and input limits in preparation for hardware deployment.

02 /

Project documentation will be added here.

Preview a local filePRIVATE PREVIEW

Try an image, PDF, presentation, STL model, or CAD file. Your file stays in this browser. This is a preview only; it is not uploaded or published.

Choose a file Maximum size: 50 MB. PowerPoint and CAD files open in a compatible app.