├── .gitignore ├── README.md ├── calibration └── calibration.py ├── dc-motor ├── __init__.py ├── data │ ├── pwm-100.csv │ ├── pwm-110.csv │ ├── pwm-120.csv │ ├── pwm-150.csv │ ├── pwm-170.csv │ ├── pwm-200.csv │ ├── pwm-210.csv │ ├── pwm-230.csv │ ├── pwm-240.csv │ ├── pwm-250.csv │ ├── pwm-50.csv │ ├── pwm-60.csv │ ├── pwm-70.csv │ ├── pwm-80.csv │ ├── pwm-90.csv │ ├── pwm-rev-100.csv │ ├── pwm-rev-120.csv │ ├── pwm-rev-150.csv │ ├── pwm-rev-170.csv │ ├── pwm-rev-200.csv │ ├── pwm-rev-210.csv │ ├── pwm-rev-230.csv │ ├── pwm-rev-240.csv │ ├── pwm-rev-250.csv │ ├── pwm-rev-50.csv │ ├── pwm-rev-60.csv │ ├── pwm-rev-70.csv │ └── pwm-rev-90.csv ├── dc_motor_equations.py ├── dc_motor_lqr_control.py ├── estimate_params.py ├── ode_solver.py ├── params_fit.png ├── pendulum_lqr_control.py ├── pid.py ├── set_velocity_per_pwm.png ├── torque_control.py └── velocity_per_pwm.png ├── docs └── Guaranteed_margins_for_LQG_regulators_-_doyle.pdf ├── lqr ├── lqr_dc_motor.py ├── lqr_simulation.py ├── lqr_solver.py └── lqr_solver.pyc ├── matlab └── inverted_pendulum.slx ├── python ├── approximation-derivative.py ├── controlled-cart-pendulum.py ├── dc-motor-control.py ├── dc-motor │ ├── README.md │ ├── control_position_lqr.py │ ├── control_position_pid.py │ ├── control_velocity_pid.py │ ├── lqr.png │ ├── lqr_solver.py │ ├── params_estimation.py │ ├── pid.png │ ├── pidcontroller.py │ ├── sim.py │ └── step_response.png ├── fixed-axis │ └── simulate.py ├── free-cart.py ├── free-double-pendulum.py ├── free-pendulum.py ├── kalman-estimator.py ├── localisation.py ├── noise-removal.py ├── obsv-ctrb-analysis.py ├── p-regulator.py ├── pendulum-pid.py ├── pidcontroller.py ├── requirements.txt ├── swing-up-and-catch.py ├── swing-up-constraints.py └── swing-up.py ├── r-pi ├── animate_cart.py ├── encoder.py ├── model.py ├── plot.py ├── plot_compare.py ├── position-control.py └── stepper.py ├── schemas ├── README.md ├── big_plate.nc ├── big_prale.nc ├── legs.nc ├── motor_and_gear_plates.nc ├── moving_plate_20.nc ├── moving_plate_40.nc ├── plate_and_led.nc ├── plates.nc ├── rapid_drilling.nc ├── v-slot_20x40.jpg └── v2 │ ├── beam-connector.dxf │ ├── cart-bottom.dxf │ ├── cart-front.dxf │ ├── cart-top.dxf │ ├── encoder-holder.dxf │ ├── motor-holder.dxf │ └── motor-holder.pdf ├── simulation-java ├── pom.xml └── src │ ├── main │ └── java │ │ └── com │ │ └── github │ │ └── zjor │ │ ├── InteractivePendulum.java │ │ └── RegulatedPendulum.java │ └── test │ └── java │ └── com │ └── github │ └── zjor │ └── AppTest.java ├── simulation-js ├── css │ └── styles.css ├── external-disturbance.html ├── index.html ├── js │ ├── de.js │ ├── inverted-pendulum-pd.js │ ├── inverted-pendulum.js │ ├── ip-disturbance.js │ ├── ip-swing-up.js │ └── jquery-3.2.1.min.js ├── pendulum-simulation.html ├── pendulum-stabilization.html └── swing-up.html ├── sketches ├── angle-derivative │ └── angle-derivative.ino ├── free_cart_control_with_stepper_driver_DQ542MA │ └── free_cart_control_with_stepper_driver_DQ542MA.ino ├── ip_lqr_with_stepper_driver_DQ542MA │ └── ip_lqr_with_stepper_driver_DQ542MA.ino ├── kalman_filter_adc │ └── kalman_filter_adc.ino ├── low-pass-filter-interrupt │ └── low-pass-filter-interrupt.ino ├── low-pass-filter │ └── low-pass-filter.ino └── pd-regulator │ └── pd-regulator.ino └── sources ├── cart-control-with-timer-interrupt ├── .gitignore ├── .travis.yml ├── .vscode │ └── extensions.json ├── README.md ├── include │ └── README ├── lib │ └── README ├── platformio.ini ├── src │ └── main.cpp └── test │ └── README ├── dc-motor-play-sound ├── .gitignore ├── .travis.yml ├── .vscode │ └── extensions.json ├── include │ └── README ├── lib │ └── README ├── platformio.ini ├── src │ └── main.cpp └── test │ └── README ├── dc-motor-state-control ├── .gitignore ├── .travis.yml ├── .vscode │ └── extensions.json ├── include │ └── README ├── lib │ └── README ├── platformio.ini ├── src │ └── main.cpp └── test │ └── README ├── dc-research-stand 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