This project studies the modelling and control of a nonlinear double-pendulum system.
The work is organised in three main parts:
- Modelling and discretisation of the nonlinear system
- Linearisation and design of an LQR controller for the linearised dynamics
- Robust control of the system under disturbances via Convex Model Predictive Control (MPC)
The plant is a double-pendulum system, consisting of two rigid links connected in series:
- Each link has length l1 and l2 and carries a point mass m1 and m2 at its end.
- The configuration is described by joint angles q1 and q2, measured from the vertical.
- Two control torques u1 and u2 are applied at the joints and act as the control inputs of the system.
- Gravity acts on both links, making the dynamics strongly nonlinear and coupled.
The goal is to move the system around a desired operating point while keeping the motion stable and well behaved.
