# Neuromorphic Control of a Pendulum

arXiv: https://arxiv.org/abs/2404.05339 · HTML: https://mlsanity.com/paper/2404.05339/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Apr 2024.

## Built on by (most cited first, 4 of 4)

- [Augmenting learning in neuro-embodied systems through neurobiological first principles](https://mlsanity.com/paper/2407.04525/) (2024)
- [Improving the adaptive and continuous learning capabilities of artificial neural networks: Lessons from multi-neuromodulatory dynamics](https://mlsanity.com/paper/2501.06762/) (2025)
- [A Neuromorphic Architecture for Scalable Event-Based Control](https://mlsanity.com/paper/2511.11924/) (2025)
- [Hardware-Software Collaborative Computing of Photonic Spiking Reinforcement Learning for Robotic Continuous Control](https://mlsanity.com/paper/2512.00427/) (2025)

## Abstract (arXiv)

We illustrate the potential of neuromorphic control on the simple mechanical model of a pendulum, with both event-based actuation and sensing. The controller and the pendulum are regarded as event-based systems that occasionally interact to coordinate their respective rhythms. Control occurs through a proper timing of the interacting events. We illustrate the mixed nature of the control design: the design of a rhythmic automaton, able to generate the right sequence of events, and the design of a feedback regulator, able to tune the timing of events.