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This section contains a small selection of papers and articles for your enjoyment.  Please give feedback on any errors or omissions in anything you find here.



This is my Master's thesis.  The topic is basically "how to evolve programs to stabilize an inverted pendulum".  Lessons learned from this work:

  1. It's very, very hard to "evolve programs to stabilize an inverted pendulum".
  2. Although Matlab can be used to build a Genetic Programming system, there's a reason they're always created in Lisp instead.
  3. Passivity-based control is pretty cool.


More articles to come soon....

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