├── .github ├── dependabot.yml └── workflows │ ├── build-arduino.yml │ ├── build-matlab.yml │ ├── includeguard.yml │ ├── lint-arduino.yml │ ├── simulink-version.yml │ └── spell-check.yml ├── .gitignore ├── .gitmodules ├── .spellcheck.yml ├── .travis.yml ├── AUTHORS ├── CONTRIBUTING.md ├── CircuitPython ├── examples │ └── MagnetoShield │ │ ├── MagnetoShield_EMPC │ │ ├── code.py │ │ └── ectrl.py │ │ ├── MagnetoShield_Identification │ │ └── code.py │ │ ├── MagnetoShield_LQ │ │ └── code.py │ │ ├── MagnetoShield_PID │ │ └── code.py │ │ ├── MagnetoShield_PolePlacement │ │ └── code.py │ │ └── Support │ │ ├── MagnetoShield_DistanceCalibrate │ │ └── code.py │ │ ├── MagnetoShield_PowerCalibrate │ │ └── code.py │ │ ├── MagnetoShield_SelfTest │ │ └── code.py │ │ └── MagnetoShield_SpeedTest │ │ └── code.py └── lib │ ├── AutomationShield.py │ ├── MagnetoShield.py │ ├── PIDAbs.py │ ├── Sampling.py │ └── empc.py ├── LICENSE ├── LabView └── examples │ └── MagnetoShield │ └── Speed_Test │ ├── MagnetoShield_Speed_Test.vi │ └── MagnetoShield_Speed_Test_Data.xlsx ├── Octave └── examples │ └── MagnetoShield │ ├── MagnetoShield_Speed_Test.m │ ├── MagnetoShield_Speed_Test_Data_Uno │ └── setup.m ├── Python └── Magneto_LQ.py ├── README.md ├── Scilab └── examples │ └── MagnetoShield │ └── MagnetoShield_Speed_Test │ ├── MagnetoShield_Speed_Test.sce │ ├── MagnetoShield_Speed_Test_Data_Uno.dat │ └── MagnetoShield_Speed_Test_Data_Uno.mat ├── etc └── codespell-ignore-words-list.txt ├── examples ├── AeroShield │ ├── AeroShield_EMPC │ │ ├── AeroShield_EMPC.ino │ │ ├── ectrl_due.h │ │ ├── ectrl_mega.h │ │ └── ectrl_uno.h │ ├── AeroShield_Identification │ │ ├── AeroShield_Identification.ino │ │ ├── aprbsU.h │ │ └── aprbsU_val.h │ ├── AeroShield_LQI │ │ └── AeroShield_LQI.ino │ ├── AeroShield_OpenLoop │ │ └── AeroShield_OpenLoop.ino │ └── AeroShield_PID │ │ └── AeroShield_PID.ino ├── BOBShield │ ├── BOBShield_Identification │ │ └── BOBShield_Identification.ino │ ├── BOBShield_Identification_aprbs │ │ ├── BOBShield_Identification_aprbs.ino │ │ ├── aprbs2U.h │ │ ├── aprbs3U.h │ │ ├── aprbs4U.h │ │ ├── aprbsU.h │ │ └── prbsU.h │ ├── BOBShield_OpenLoop │ │ └── BOBShield_OpenLoop.ino │ ├── BOBShield_PID │ │ └── BOBShield_PID.ino │ ├── BOBShield_SelfTest │ │ └── BOBShield_SelfTest.ino │ └── BobShield_LQ │ │ └── BobShield_LQ.ino ├── BicopShield │ ├── BicopShield_EMPC │ │ ├── BicopShield_EMPC.ino │ │ ├── ectrl.h │ │ └── ectrl_due.h │ ├── BicopShield_LQ │ │ └── BicopShield_LQ.ino │ ├── BicopShield_PID │ │ └── BicopShield_PID.ino │ └── BicopShield_TOF_PID │ │ └── BicopShield_TOF_PID.ino ├── FloatShield │ ├── FloatShield_Identification │ │ ├── CoolTerm Capture 2021-05-21 12-42-59.txt │ │ ├── FloatShield_Identification.ino │ │ ├── aprbsU.h │ │ └── prbsU.h │ ├── FloatShield_LQ │ │ └── FloatShield_LQ.ino │ ├── FloatShield_MPC │ │ ├── FloatShield_MPC.ino │ │ └── FloatShield_muAO-MPC │ │ │ ├── FloatShield.py │ │ │ ├── FloatShield_MPC.h │ │ │ ├── FloatShield_MPC_Export.py │ │ │ └── cmpc │ │ │ ├── fip_ops.c │ │ │ ├── fip_ops.h │ │ │ ├── mc04types.h │ │ │ ├── mpc.c │ │ │ ├── mpc.h │ │ │ ├── mpc_base.h │ │ │ ├── mpc_const.c │ │ │ ├── mpc_const.h │ │ │ ├── mpc_inc.c │ │ │ ├── mpc_inc.h │ │ │ ├── mpc_ref.c │ │ │ ├── mpc_ref.h │ │ │ ├── mpc_stc.c │ │ │ ├── mpc_stc.h │ │ │ ├── mpc_stdint.h │ │ │ ├── mtx_ops.c │ │ │ └── mtx_ops.h │ ├── FloatShield_OpenLoop │ │ └── FloatShield_OpenLoop.ino │ ├── FloatShield_PID │ │ └── FloatShield_PID.ino │ └── Support │ │ └── FloatShield_SelfTest │ │ └── FloatShield_SelfTest.ino ├── HeatShield │ ├── HeatShield_Identification │ │ └── HeatShield_Identification.ino │ ├── HeatShield_PID │ │ └── HeatShield_PID.ino │ ├── HeatShield_Random │ │ └── HeatShield_Random.ino │ ├── HeatShield_StepResponse │ │ └── HeatShield_StepResponse.ino │ └── HeatShield_Thermistor │ │ └── HeatShield_Thermistor.ino ├── LinkShield │ ├── LinkShield_Identification │ │ └── LinkShield_Identification.ino │ └── LinkShield_PPF │ │ └── LinkShield_PPF.ino ├── MagnetoShield │ ├── MagnetoShield_EMPC │ │ ├── MagnetoShield_EMPC.ino │ │ ├── ectrl_AVR.h │ │ └── ectrl_due.h │ ├── MagnetoShield_Identification │ │ └── MagnetoShield_Identification.ino │ ├── MagnetoShield_LQ │ │ └── MagnetoShield_LQ.ino │ ├── MagnetoShield_MPC │ │ ├── MagnetoShield_MPC.ino │ │ └── MagnetoShield_muAO-MPC │ │ │ ├── MagnetoShield_MPC.h │ │ │ └── cmpc │ │ │ ├── Makefile │ │ │ ├── fip_ops.c │ │ │ ├── fip_ops.h │ │ │ ├── mc04types.h │ │ │ ├── mpc.c │ │ │ ├── mpc.h │ │ │ ├── mpc_base.h │ │ │ ├── mpc_const.c │ │ │ ├── mpc_const.h │ │ │ ├── mpc_inc.c │ │ │ ├── mpc_inc.h │ │ │ ├── mpc_ref.c │ │ │ ├── mpc_ref.h │ │ │ ├── mpc_stc.c │ │ │ ├── mpc_stc.h │ │ │ ├── mpc_stdint.h │ │ │ ├── mtx_ops.c │ │ │ └── mtx_ops.h │ ├── MagnetoShield_PID │ │ └── MagnetoShield_PID.ino │ ├── MagnetoShield_PolePlacement │ │ └── MagnetoShield_PolePlacement.ino │ └── Support │ │ ├── MagnetoShield_DistanceCalibrate │ │ └── MagnetoShield_DistanceCalibrate.ino │ │ ├── MagnetoShield_PowerCalibrate │ │ └── MagnetoShield_PowerCalibrate.ino │ │ └── MagnetoShield_SelfTest │ │ └── MagnetoShield_SelfTest.ino ├── MotoShield │ ├── MotoShield_Identification │ │ ├── MotoShield_Identification.ino │ │ ├── aprbsU.h │ │ └── prbsU.h │ ├── MotoShield_LQ │ │ └── MotoShield_LQ.ino │ ├── MotoShield_OpenLoop │ │ └── MotoShield_OpenLoop.ino │ ├── MotoShield_PID │ │ └── MotoShield_PID.ino │ └── MotoShield_StepResponse │ │ └── MotoShield_StepResponse.ino ├── OptoShield │ ├── OptoShield_Identification │ │ └── OptoShield_Identification.ino │ ├── OptoShield_PIDAuto │ │ └── OptoShield_PIDAuto.ino │ ├── OptoShield_PIDManual │ │ └── OptoShield_PIDManual.ino │ └── OptoShield_StepResponse │ │ └── OptoShield_StepResponse.ino ├── PressureShield │ ├── PressureShield_Identification │ │ ├── PressureShield_Identification.ino │ │ └── aprbsU.h │ ├── PressureShield_LQ │ │ └── PressureShield_LQ.ino │ └── PressureShield_PID │ │ └── PressureShield_PID.ino ├── Sampling │ └── Sampling_Test │ │ └── Sampling_Test.ino ├── TugShield │ ├── TugShield_Identification │ │ └── TugShield_Identification.ino │ ├── TugShield_PID │ │ └── TugShield_PID.ino │ └── TugShield_SelfTest │ │ └── TugShield_SelfTest.ino └── _Filtering_ │ └── MovingAverage │ └── MovingAverage.ino ├── extras └── MagnetoShield │ ├── PID_Data_Source │ ├── Notes.txt │ └── PID_Data_Source.ino │ └── Scilab_Speed_Test_Server │ └── Scilab_Speed_Test_Server.ino ├── installMatlabAndSimulink.m ├── keywords.txt ├── library.properties ├── matlab ├── +arduinoioaddons │ └── +Pololu │ │ ├── Pololu_VL53L0X.m │ │ └── src │ │ └── Pololu_VL53L0X.h ├── AeroShield.m ├── FloatShield.m ├── HeatShield.m ├── MotoShield.m ├── PID.m ├── PressureShield.m ├── TugShield.m ├── applyConstraintsMPC.m ├── aprbsGenerate.m ├── calculateCostFunctionMPC.m ├── constrain.m ├── controlledFailCI.m ├── diffeq.m ├── empcMemory.m ├── empcToC.m ├── empcToPython.m ├── estimateKalmanState.m ├── examples │ ├── AeroShield │ │ ├── AeroShield_APRBS.m │ │ ├── AeroShield_EMPC │ │ │ ├── AeroShield_EMPC_Simulation.m │ │ │ ├── AeroShield_Export_EMPC.m │ │ │ ├── cmpc │ │ │ │ ├── ectrl.c │ │ │ │ ├── ectrl_mex.c │ │ │ │ └── ectrl_sfunc.c │ │ │ ├── ectrl.h │ │ │ └── ectrl.py │ │ ├── AeroShield_GreyboxModel_Linear.mat │ │ ├── AeroShield_GreyboxModel_Nonlinear.mat │ │ ├── AeroShield_Identification.m │ │ ├── AeroShield_LQR_Design.m │ │ ├── AeroShield_ODE.m │ │ ├── AeroShield_PID │ │ │ └── AeroShield_PID.m │ │ ├── AeroShield_open_loop │ │ │ └── AeroShield_open_loop.m │ │ ├── AeroShield_speedTest │ │ │ └── AeroShield_speedTest.m │ │ ├── EMPC_due.txt │ │ ├── EMPC_mega_N5.txt │ │ ├── EMPC_uno.txt │ │ ├── Identification_Data.mat │ │ ├── Identification_Data2.mat │ │ ├── LQ_mega.txt │ │ ├── Validation_Data.mat │ │ ├── Validation_Data2.mat │ │ ├── aprbsU.h │ │ ├── ident_data.csv │ │ ├── ident_data.txt │ │ ├── import_ident_data.m │ │ ├── importfile.m │ │ ├── plot_measuerements.m │ │ └── val_data.txt │ ├── BicopShield │ │ ├── BicopShield_EMPC │ │ │ ├── BicopShield_EMPC_Export.m │ │ │ ├── BicopShield_EMPC_Simulation.m │ │ │ ├── BicopShield_GreyboxModel_LinearSS.mat │ │ │ ├── ectrl.h │ │ │ └── ectrl_due.h │ │ ├── BicopShield_Ident │ │ │ ├── BicopShield_GreyboxModel_LinearSS.mat │ │ │ ├── BicopShield_Ident.m │ │ │ └── pid1.csv │ │ ├── BicopShield_LQI │ │ │ ├── BicopShield_GreyboxModel_LinearSS.mat │ │ │ └── BicopShield_LQI.m │ │ └── BicopShield_PID │ │ │ ├── BicopShield_PID.m │ │ │ └── pid1.csv │ ├── BoBShield │ │ ├── BOBShield4th_ODE.m │ │ ├── BOBShieldSin2_ODE.m │ │ ├── BOBShieldSin_ODE.m │ │ ├── BOBShield_ODE.m │ │ ├── LQsim.m │ │ ├── LQtune.m │ │ ├── MPCsim.m │ │ ├── PID_ver2 │ │ │ ├── PID.eps │ │ │ ├── PID.jpg │ │ │ ├── Screen1.PNG │ │ │ ├── Screen2.PNG │ │ │ └── dataPidAll.mat │ │ ├── dataAprbsAll.mat │ │ ├── dataAprbsAllNEW.mat │ │ ├── dataPidAll.mat │ │ ├── gaTune.m │ │ ├── identification.m │ │ ├── myModel.mat │ │ ├── objfun.m │ │ ├── psTune.m │ │ └── x.mat │ ├── FloatShield │ │ ├── APRBS_R4.mat │ │ ├── APRBS_R4.txt │ │ ├── APRBS_R4_2.mat │ │ ├── APRBS_R4_2.txt │ │ ├── FloatShield_APRBS.m │ │ ├── FloatShield_GreyboxModel_LinearSS.mat │ │ ├── FloatShield_GreyboxModel_LinearTF.mat │ │ ├── FloatShield_GreyboxModel_Nonlinear.mat │ │ ├── FloatShield_Ident_Greybox.m │ │ ├── FloatShield_KalmanFiltering.m │ │ ├── FloatShield_LQ.m │ │ ├── FloatShield_LQ_Gain.m │ │ ├── FloatShield_LinearSS_Discrete_Matrices_25ms.mat │ │ ├── FloatShield_MPC.m │ │ ├── FloatShield_ODE.m │ │ ├── FloatShield_PID.m │ │ ├── FloatShield_PRBS.m │ │ ├── PRBS_R4.mat │ │ ├── PRBS_R4.txt │ │ ├── PRBS_R4_2.txt │ │ ├── aprbsU.h │ │ ├── prbsU.h │ │ └── resultID.mat │ ├── HeatShield │ │ ├── HeatShield_Identification_Blackbox.m │ │ ├── HeatShield_Identification_Experiment.m │ │ ├── HeatShield_Identification_Greybox.m │ │ ├── HeatShield_InputOutput.m │ │ ├── HeatShield_Models_Blackbox.mat │ │ ├── HeatShield_Models_Greybox.mat │ │ ├── HeatShield_ODE.m │ │ ├── HeatShield_PID.m │ │ ├── resultID.mat │ │ └── resultID2.mat │ ├── LinkShield │ │ ├── LinkShield_Identification_TF.m │ │ ├── LinkShield_PPF.m │ │ ├── resultID.mat │ │ └── sys.mat │ ├── MagnetoShield │ │ ├── EMPC_due.txt │ │ ├── Experimental │ │ │ ├── Hinfty.m │ │ │ ├── MagnetoShield_ID_GreyBox_NL.m │ │ │ ├── MagnetoShield_ID_GreyEst.m │ │ │ ├── MagnetoShield_ID_GreyEst_LumpedParameters.m │ │ │ ├── MagnetoShield_LQ_vs_PID_Sim_Works.m │ │ │ ├── MagnetoShield_Models_Greybox_SS.mat │ │ │ ├── MagnetoShield_Models_Greybox_TF.mat │ │ │ ├── MagnetoShield_ODE.m │ │ │ ├── MagnetoShield_ODE_LP.m │ │ │ ├── MagnetoShield_ODE_NL.m │ │ │ ├── MagnetoShield_PID_Data.mat │ │ │ ├── MagnetoShield_PID_Simulation2.m │ │ │ ├── MagnetoShield_RootLocus.m │ │ │ └── MagnetoShield_TF_Validate.m │ │ ├── LQ_due.txt │ │ ├── MPC_due.txt │ │ ├── MagnetoShield.py │ │ ├── MagnetoShield_Constants_Parameters.m │ │ ├── MagnetoShield_EMPC_Data.mat │ │ ├── MagnetoShield_EMPC_Simulation.m │ │ ├── MagnetoShield_Experiment.m │ │ ├── MagnetoShield_Experiments_due.mat │ │ ├── MagnetoShield_Export_EMPC.m │ │ ├── MagnetoShield_Export_muAOMPC.m │ │ ├── MagnetoShield_ID_Data.mat │ │ ├── MagnetoShield_ID_GreyBox_SS.m │ │ ├── MagnetoShield_ID_GreyBox_TF.m │ │ ├── MagnetoShield_LQ_Data.mat │ │ ├── MagnetoShield_LQ_Simulation.m │ │ ├── MagnetoShield_LQ_due.mat │ │ ├── MagnetoShield_MPC_Data.mat │ │ ├── MagnetoShield_Model_Linearization.m │ │ ├── MagnetoShield_Models_Greybox_SS.mat │ │ ├── MagnetoShield_Models_Greybox_SS_AlternativeModel.mat │ │ ├── MagnetoShield_Models_Greybox_TF.mat │ │ ├── MagnetoShield_PID_Data.mat │ │ ├── MagnetoShield_PolePlacement_Data.mat │ │ ├── MagnetoShield_PolePlacement_Simulation.m │ │ ├── MagnetoShield_Speed_Test.m │ │ ├── MagnetoShield_Speed_Test_Data_Due.mat │ │ ├── MagnetoShield_Speed_Test_Data_Uno.mat │ │ ├── MagnetoShield_muAOMPC_Main.py │ │ ├── R2 │ │ │ ├── C_PID_3000us.mat │ │ │ ├── Calibration │ │ │ │ ├── Due │ │ │ │ │ ├── IRF520.mat │ │ │ │ │ ├── IRF520.sfit │ │ │ │ │ └── IRF520.xlsx │ │ │ │ └── Uno │ │ │ │ │ ├── I2DAC.h │ │ │ │ │ ├── PowerCal.mat │ │ │ │ │ ├── PowerCalibrate.m │ │ │ │ │ ├── R1-R2 │ │ │ │ │ ├── IRF520.csv │ │ │ │ │ ├── IRF520.dwf3work │ │ │ │ │ ├── IRF520.m │ │ │ │ │ ├── IRF520.mat │ │ │ │ │ ├── IRF520.sfit │ │ │ │ │ └── IRF520.xlsx │ │ │ │ │ └── U2DAC.h │ │ │ ├── ID_PID_1300us.mat │ │ │ ├── ID_PID_4000us.mat │ │ │ ├── MagnetoShield_Experiment.m │ │ │ ├── MagnetoShield_ID_GreyBox_SS.m │ │ │ ├── MagnetoShield_ID_GreyBox_TF.m │ │ │ ├── MagnetoShield_LQ_Simulation.m │ │ │ ├── MagnetoShield_Models_Greybox_SS.mat │ │ │ └── MagnetoShield_Models_Greybox_TF.mat │ │ ├── ectrl.h │ │ ├── ectrl.py │ │ ├── importfile.m │ │ └── save_experiments.m │ ├── MotoShield │ │ ├── MotoShield_APRBS.m │ │ ├── MotoShield_Compensator_Design.m │ │ ├── MotoShield_GreyBox_ID_StateSpace.m │ │ ├── MotoShield_GreyBox_ID_TF.m │ │ ├── MotoShield_GreyboxModel_LinearSS.mat │ │ ├── MotoShield_GreyboxModel_LinearTF.mat │ │ ├── MotoShield_GreyboxModel_TF.mat │ │ ├── MotoShield_LQ_Gain_Calc.m │ │ ├── MotoShield_LinearSS.mat │ │ ├── MotoShield_PID.m │ │ ├── MotoShield_PID_ZN_tuning.m │ │ ├── MotoShield_PRBS.m │ │ ├── MotoShield_StateSpace_Identification_R2.m │ │ ├── MotoShield_TransferFunction_Identification_R2.m │ │ ├── MotoShield_iddata.mat │ │ ├── MotoShield_stateEstimate.m │ │ ├── aprbsResult.mat │ │ ├── aprbsU.h │ │ ├── filter.fda │ │ ├── identification_data.mat │ │ ├── moto_ss.mat │ │ ├── moto_tf.mat │ │ └── prbsU.h │ ├── OptoShield │ │ ├── identifyOptoShield_Step.m │ │ ├── plotOptoShield_PID.m │ │ ├── plotOptoShield_Step.m │ │ ├── result.mat │ │ └── resultID.mat │ ├── PressureShield │ │ ├── .placeholder │ │ ├── BMP280.m │ │ ├── BMP280Init.m │ │ ├── BlackBoxModel.mat │ │ ├── PressureShield_LQ.m │ │ ├── PressureShield_LQ_Simulation.m │ │ ├── PressureShield_MPC.m │ │ ├── PressureShield_MPC_Simulation.m │ │ ├── PressureShield_PID.m │ │ └── Reference.mat │ └── TugShield │ │ ├── .placeholder │ │ ├── TugShield_APRBS.m │ │ ├── TugShield_Identification.m │ │ ├── TugShield_PRBS.m │ │ ├── TugShield_SelfTest.m │ │ └── TugShiled_PID.m ├── installForMATLAB.m ├── installMPT3.m ├── isfunction.m ├── listToolboxes.m ├── map.m ├── matrixToPython.m ├── muAOMPC_Main.m ├── muAOMPC_Problem.m ├── plotLive.m ├── plotResults.m ├── prbsGenerate.m ├── printBLAMatrix.m ├── printSSMatrix.m ├── readExperiment.m ├── readLiveExperiment.m ├── startScript.m └── vectorToC.m ├── response.mat ├── simulink ├── AeroLibrary.slx ├── AutomationShield.slx ├── AutomationShield.slx.r2019a ├── BOBLibrary.slx ├── BOBShieldTest.slx ├── BicopLibrary.slx ├── BicopLibrary.slx.r2021a ├── FloatLibrary.slx ├── HeatLibrary.slx ├── HeatShield_Models_Blackbox.mat ├── HeatShield_Models_Greybox.mat ├── MagnetoLibrary.slx ├── MagnetoLibrary.slx.r2019a ├── MotoLibrary.slx ├── OptoLibrary.slx ├── PressureLibrary.slx ├── SFB__VL6180X_sensor__SFB.mat ├── Thumbs.db ├── TugLibrary.slx ├── VL6180X_sensor.mexw64 ├── assets │ ├── Aero.svg │ ├── BiCop.svg │ ├── Fan.svg │ ├── Fan_u1.svg │ ├── Fan_u2.svg │ ├── FloatLibraryOldBlocksBackup.slx │ ├── FloatShield.svg │ ├── FloatShield_Photo.jpg │ ├── Hall.svg │ ├── HeatShield.svg │ ├── HeatShield_Cartridge.svg │ ├── HeatShield_NLARX.svg │ ├── HeatShield_ODE.svg │ ├── HeatShield_Photo.jpg │ ├── HeatShield_Thermistor.svg │ ├── MagnetoFig │ │ ├── ActuatorWrite.svg │ │ ├── InputCon │ │ │ ├── DACtoDAC.svg │ │ │ ├── PERtoDAC.svg │ │ │ ├── Thumbs.db │ │ │ └── VtoDAC.svg │ │ ├── MagnetoShield.svg │ │ ├── OutputCon │ │ │ ├── ADCtoADC.svg │ │ │ ├── ADCtoAmp.svg │ │ │ ├── ADCtoGauss.svg │ │ │ ├── ADCtoMM.svg │ │ │ ├── ADCtoPer.svg │ │ │ ├── ADCtoRef.svg │ │ │ ├── ADCtoVolt.svg │ │ │ └── Thumbs.db │ │ ├── Pins │ │ │ ├── Thumbs.db │ │ │ ├── cpin.svg │ │ │ ├── hpin.svg │ │ │ ├── ppin.svg │ │ │ └── vpin.svg │ │ ├── SensorRead │ │ │ ├── Potentiometer.svg │ │ │ ├── SensorRead_Current.svg │ │ │ ├── SensorRead_Hall.svg │ │ │ └── SensorRead_Voltage.svg │ │ └── Thumbs.db │ ├── MagnetoShield_Photo.png │ ├── MotoShield.svg │ ├── MotoShield_Motor.svg │ ├── MotoShield_Sensor.svg │ ├── MotoShield_SensorCurrent.svg │ ├── MotoShield_TF.svg │ ├── OptoShield.svg │ ├── OptoShield_LDR.svg │ ├── OptoShield_LDR_EXT.svg │ ├── OptoShield_LED.svg │ ├── OptoShield_Photo.jpg │ ├── OptoShield_TF.svg │ ├── Potentiometer.svg │ ├── TOF.svg │ ├── TugShield_Fig.jpg │ ├── TugShield_actuatorWrite.jpg │ ├── TugShield_block.png │ ├── TugShield_sensorRead.png │ ├── icons.ai │ └── src │ │ ├── CommonBlocks.slx │ │ ├── VL53L0X │ │ ├── PololuVL53L0X.c │ │ ├── PololuVL53L0X.mexw64 │ │ ├── PololuVL53L0X.tlc │ │ ├── PololuVL53L0X_wrapper.cpp │ │ ├── VL53L0X.cpp │ │ ├── VL53L0X.h │ │ └── rtwmakecfg.m │ │ ├── Wire.cpp │ │ ├── Wire.h │ │ ├── twi.c │ │ └── twi.h ├── codedescriptor.dmr ├── constrain.m ├── examples │ ├── AeroShield │ │ ├── AeroShield_OpenLoop │ │ │ └── AeroShield_OpenLoop.slx │ │ └── AeroShield_PID │ │ │ └── AeroShield_PID.slx │ ├── BOBShield │ │ └── BOBShieldInputsOutpus.slx │ ├── BicopShield │ │ ├── BicopShield_EMPC.slx │ │ ├── BicopShield_EMPC │ │ │ ├── ectrl.c │ │ │ ├── ectrl_mex.c │ │ │ ├── ectrl_sfunc.c │ │ │ └── ectrl_sfunc.mexw64 │ │ ├── BicopShield_LQI.slx │ │ ├── BicopShield_LQI_Kalman.slx │ │ ├── BicopShield_OpenLoop.slx │ │ └── BicopShield_PID.slx │ ├── FloatShield │ │ ├── FloatShield_LQ.slx │ │ └── FloatShield_PID.slx │ ├── HeatShield │ │ ├── HeatShield_ID_Test.slx │ │ ├── HeatShield_InputsOutputs.slx │ │ ├── HeatShield_PID.slx │ │ └── HeatShield_PID_Simulate.slx │ ├── MagnetoShield │ │ ├── Examples_DUE │ │ │ ├── MagnetoShield_Calibration_DUE.slx │ │ │ ├── MagnetoShield_EMPC_DUE │ │ │ │ ├── EMPC_DUE.slx │ │ │ │ ├── ectrl.c │ │ │ │ ├── ectrl_mex.c │ │ │ │ ├── ectrl_sfunc.c │ │ │ │ └── ectrl_sfunc.mexw64 │ │ │ ├── MagnetoShield_LQ_DUE_SIMO_SystemBlock.slx │ │ │ ├── MagnetoShield_LQ_DUE_SISO.slx │ │ │ ├── MagnetoShield_MPC_DUE │ │ │ │ ├── MagnetoShield.py │ │ │ │ ├── MagnetoShield_Export_muAOMPC.m │ │ │ │ ├── MagnetoShield_MPC_Control │ │ │ │ │ ├── MPC_DUE.slx │ │ │ │ │ ├── Magneto_MPC.c │ │ │ │ │ ├── Magneto_MPC.mexw64 │ │ │ │ │ ├── Magneto_MPC.tlc │ │ │ │ │ ├── Magneto_MPC_wrapper.c │ │ │ │ │ ├── SFB__Magneto_MPC__SFB.mat │ │ │ │ │ └── rtwmakecfg.m │ │ │ │ ├── MagnetoShield_muAOMPC_Main.py │ │ │ │ ├── __pycache__ │ │ │ │ │ └── MagnetoShield.cpython-38.pyc │ │ │ │ └── cmpc │ │ │ │ │ ├── Makefile │ │ │ │ │ ├── fip_ops.c │ │ │ │ │ ├── fip_ops.h │ │ │ │ │ ├── mc04types.h │ │ │ │ │ ├── mpc.c │ │ │ │ │ ├── mpc.h │ │ │ │ │ ├── mpc_base.h │ │ │ │ │ ├── mpc_const.c │ │ │ │ │ ├── mpc_const.h │ │ │ │ │ ├── mpc_inc.c │ │ │ │ │ ├── mpc_inc.h │ │ │ │ │ ├── mpc_ref.c │ │ │ │ │ ├── mpc_ref.h │ │ │ │ │ ├── mpc_stc.c │ │ │ │ │ ├── mpc_stc.h │ │ │ │ │ ├── mpc_stdint.h │ │ │ │ │ ├── mtx_ops.c │ │ │ │ │ └── mtx_ops.h │ │ │ ├── MagnetoShield_PID_DUE_Distance.slx │ │ │ ├── MagnetoShield_PID_DUE_Percents.slx │ │ │ ├── MagnetoShield_PID_DUE_SystemBlock.slx │ │ │ └── MagnetoShield_PolePlacement_DUE.slx │ │ ├── Examples_MEGA │ │ │ ├── MagnetoShield_Calibration_MEGA.slx │ │ │ ├── MagnetoShield_LQ_MEGA_SISO.slx │ │ │ ├── MagnetoShield_PID_MEGA_Distance.slx │ │ │ ├── MagnetoShield_PID_MEGA_SystemBlock.slx │ │ │ └── MagnetoShield_PolePlacement_MEGA_SISO.slx │ │ ├── Examples_UNO │ │ │ ├── MagnetoShield_Calibration_UNO.slx │ │ │ ├── MagnetoShield_LQ_UNO.slx │ │ │ ├── MagnetoShield_PID_UNO_Distance.slx │ │ │ ├── MagnetoShield_PID_UNO_SystemBlock.slx │ │ │ └── MagnetoShield_PolePlacement_UNO.slx │ │ ├── MagnetoShield_AlternativeModel_Examples │ │ │ ├── Identification │ │ │ │ ├── Identif_Data │ │ │ │ │ ├── Constants_and_parameters.m │ │ │ │ │ ├── Data.mat │ │ │ │ │ └── notes.txt │ │ │ │ ├── Linear │ │ │ │ │ ├── Linear_identification_SS_Alternative.m │ │ │ │ │ ├── Linearization_Alternative.m │ │ │ │ │ └── MagnetoShield_Alternative_Model.mat │ │ │ │ └── Non_linear │ │ │ │ │ ├── Magneto_Nonlin_CT.m │ │ │ │ │ ├── Magneto_Nonlin_DT.m │ │ │ │ │ ├── Nonlin_values_initialization.m │ │ │ │ │ └── Simulink_nonlin_simulations │ │ │ │ │ ├── MagnetoShield_PID_Nonlinear_Observer.slx │ │ │ │ │ ├── MagnetoShield_PID_Nonlinear_Simulation_CT.slx │ │ │ │ │ └── MagnetoShield_PID_Nonlinear_Simulation_DT.slx │ │ │ ├── Models_comparison │ │ │ │ ├── Alternative_model │ │ │ │ │ ├── MagnetoShield_Alternative_Model.mat │ │ │ │ │ └── MagnetoShield_Alternative_Model_NOT_Identified.mat │ │ │ │ ├── Compare_models.m │ │ │ │ ├── Data_frequency.mat │ │ │ │ ├── Data_time.mat │ │ │ │ └── Original_model │ │ │ │ │ ├── MagnetoShield_Models_Greybox_SS.mat │ │ │ │ │ └── MagnetoShield_Models_Greybox_SS_NOT_Identified.mat │ │ │ └── Simulink_control_DUE │ │ │ │ ├── LQR │ │ │ │ ├── KalmanFilter_test.slx │ │ │ │ ├── MagnetoShield_LQ_DUE_1.slx │ │ │ │ ├── MagnetoShield_LQ_DUE_2.slx │ │ │ │ ├── MagnetoShield_LQ_Initialization.m │ │ │ │ ├── MagnetoShield_LQ_Simulation.slx │ │ │ │ └── SIMO │ │ │ │ │ ├── MagnetoShield_LQ_SIMO_DUE.slx │ │ │ │ │ ├── MagnetoShield_LQ_SIMO_Initialization.m │ │ │ │ │ └── MagnetoShield_LQ_SIMO_Simulation.slx │ │ │ │ ├── MagnetoShield_Calibration_DUE.slx │ │ │ │ ├── MagnetoShield_EMPC_DUE │ │ │ │ ├── EMPC_DUE.slx │ │ │ │ ├── MagnetoShield_Export_EMPC.m │ │ │ │ ├── ectrl_sfunc.mexw64 │ │ │ │ └── empc │ │ │ │ │ ├── EMPC_DUE.bin │ │ │ │ │ ├── ectrl.c │ │ │ │ │ ├── ectrl_mex.c │ │ │ │ │ ├── ectrl_sfunc.c │ │ │ │ │ └── ectrl_sfunc.mexw64 │ │ │ │ ├── MagnetoShield_MPC_DUE │ │ │ │ ├── MagnetoShield.py │ │ │ │ ├── MagnetoShield_Export_muAOMPC.m │ │ │ │ ├── MagnetoShield_MPC_Control │ │ │ │ │ ├── MPC_DUE.bin │ │ │ │ │ ├── MPC_DUE.slx │ │ │ │ │ ├── Magneto_MPC.c │ │ │ │ │ ├── Magneto_MPC.mexw64 │ │ │ │ │ ├── Magneto_MPC.tlc │ │ │ │ │ ├── Magneto_MPC_wrapper.c │ │ │ │ │ ├── SFB__Magneto_MPC__SFB.mat │ │ │ │ │ └── rtwmakecfg.m │ │ │ │ ├── MagnetoShield_muAOMPC_Main.py │ │ │ │ ├── __pycache__ │ │ │ │ │ └── MagnetoShield.cpython-38.pyc │ │ │ │ └── cmpc │ │ │ │ │ ├── Makefile │ │ │ │ │ ├── fip_ops.c │ │ │ │ │ ├── fip_ops.h │ │ │ │ │ ├── mc04types.h │ │ │ │ │ ├── mpc.c │ │ │ │ │ ├── mpc.h │ │ │ │ │ ├── mpc_base.h │ │ │ │ │ ├── mpc_const.c │ │ │ │ │ ├── mpc_const.h │ │ │ │ │ ├── mpc_inc.c │ │ │ │ │ ├── mpc_inc.h │ │ │ │ │ ├── mpc_ref.c │ │ │ │ │ ├── mpc_ref.h │ │ │ │ │ ├── mpc_stc.c │ │ │ │ │ ├── mpc_stc.h │ │ │ │ │ ├── mpc_stdint.h │ │ │ │ │ ├── mtx_ops.c │ │ │ │ │ └── mtx_ops.h │ │ │ │ ├── PID │ │ │ │ └── MagnetoShield_PID_DUE_Distance.slx │ │ │ │ └── PolePlacement │ │ │ │ ├── MagnetoShield_PolePlacement_DUE.slx │ │ │ │ ├── MagnetoShield_PolePlacement_Simulation.slx │ │ │ │ └── PolePlacement_Inicialization.m │ │ ├── MagnetoShield_LQ_Initialization.m │ │ ├── MagnetoShield_LQ_Simulation.slx │ │ ├── MagnetoShield_PolePlacement_Initialization.m │ │ └── MagnetoShield_PolePlacement_Simulation.slx │ ├── MotoShield │ │ ├── MotoShield_Compensator.slx │ │ ├── MotoShield_InputsOutputs.slx │ │ └── MotoShield_PID.slx │ ├── OptoShield │ │ ├── OptoShield_InputsOutputs.slx │ │ ├── OptoShield_PID_Control.slx │ │ └── OptoShield_Pulse_Identification.slx │ ├── PressureShield │ │ ├── PressureShield_LQ.slx │ │ └── PressureShield_PID.slx │ └── TugShield │ │ ├── TugShield_Identification.slx │ │ └── TugShield_PID.slx ├── 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