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Good to see someone taking on this challenging application. As a matter of fact, the potential of EM for control was identified by one of the very first students on the old MSc module (Monika Farkas), whose first model became part of the billiards model. Monika's idea was that an empirical approach to action would naturally proceed stage by stage introducing progressively more advanced forms of feedback as experience was acquired (there may be some vestige of this account in the report on the billiards model RR#260 - a companion to the VCCS report you cite that didn't make it to publication). A full account of the background to the existing model would involve revisiting the mathematical model of control which was used in one of the versions: this in turn was based on a third-year project originally supervised by Keith Godfrey in Engineering. Charles Care's very recent work on an 'analog' extension to tkeden might also be an interesting source.

A good objective for the model-building would be to improve the interaction and visualisation so as to expose the qualities of the existing pendulum models more clearly, and perhaps also to shed light on how they were developed. Comprehension of these models is itself worth some credit, and you can also reflect on whether the fact that the models were built using EM principles makes them easier to comprehend and interact with. You can also view these models from an educational perspective, addressing such questions as 'how might the EM pendulum models be used as the basis of a practical exercise for students that could assess their understanding in an objective way' (if indeed this is possible). If you do go down that route, there are scientific visualisations developed with the educational agenda in mind (though perhaps peripheral to your chosen application) that you might find useful to consult (see the Enigma simulations for instance). Another angle of interest involves comparing tkeden with the tools that engineers have developed for constructing such simulations.

'any for of' -> any form of
'the potentials' -> the potential
'As a fist step' -> as a first step
You can cite Y P Yung's report as 'Report on EPSRC-funded project'