This paper investigates the control of a bouncing
ball using Model Predictive Control. Bouncing ball is a benchmark
problem for various rhythmic tasks such as juggling, walking,
hopping and running. Humans develop intentions which may be
perceived as our reference trajectory and tries to track it. The
human brain optimizes the control effort needed to track its
reference; this forms the central theme for control of bouncing ball
in our investigations.
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