The traditional 2-link serial manipulator arm, given its similarity to a double pendulum system, can be considered a widely studied control problem and a useful testbed for alternative modelling and control approaches. In this project, the student would be required to develop (virtually) a 2-link manipulator arm and a PID controller. Semester 1 would focus on mathematical modelling of the system dynamics and the associated control problem, while Semester 2 would focus on the modelling of the electro-mechanical system using software such as Simscape/MATLAB and Solidworks. Throughout, the design should be guided by the intent to develop this into a teaching and demonstration tool for PID tuning.