Supplementary video to paper "EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems"

Video of the simulation of the EigenMPC controller applied to a double pendulum in order to reach sustained regular oscillations. Two versions of the controller are applied: (a) the adaptive version simultaneously finds and converges to the modes, (b) the curved version uses information about a pre-computed mode in order to converge to it. Both versions are applied in order to find the two normal modes of the double pendulum, namely the in-phase mode and the anti-phase one.