Simone Bertoni

PID-C-Struct. The code shows the implementation of a PID controller in C. The PID controller includes: - Filtered derivative for the derivative term - Saturation of the command - Rate limiter of the command - Anti-windup technique: back-calculation and it is implemented using a structure, to make the code reusable.

MPC-Pendulum-Python. Model Predictive Control implemented in Python, using scipy.optimize.minimize, on the model of a pendulum.

PID-tuning-opt. Optimisation of PID parameters implemented in Python, using scipy.optimize.minimize.

taycan-MPC-slope-zero-offset-EKF. How to use Model Predictive Control to control the speed of a Porsche Taycan model. Rejection of slope disturbance using Extended Kalman Filter.

PID-Controller-Python. How to implement a PID Controller in Python

SMC-Pendulum. Example of how to implement SMC control on a pendulum model, using the Super Twisting Algorithm. This Python code is used to plot the result of a model implemented using Collimator (https://collimator.ai).

Real-time-PID-Python. Control of a pendulum in real-time. The script simulates a real-time test of a control algorithm, allowing the user to change online the PID gains, derivative filter time constant and setpoint.

quaternion-complementary-filter. Python implementation of the quaternion based complementary filter described in https://www.mdpi.com/1424-8220/15/8/19302

pendulum-mpc. Example on how to control a pendulum using MPC in MATLAB/Simulink

Python-Control-Library. An example of how to use the Python Control Library

ADRC-Pendulum-C. Example of how to implement ADRC control on a pendulum model using C code. The Python code is used to plot the results from the C program.

Wheeled-robot-control. A model in Xcos of a two wheeled mobile robot and its control system, to control yaw and speed.

Python-Lead-Compensator. Example of how to tune a lead compensator (and compare it to a proportional) using Python control library.

PID-C. C

taycan-MPC. How to use Model Predictive Control to control the speed of a Porsche Taycan model.

MPC-Pendulum-Python-2. Model Predictive Control implemented in Python, using scipy.optimize.minimize, on the model of a pendulum. The implementation is tested with various values of pendulum mass to verify robustness.

position_control_mpc. Various examples on position control of an object on a surface, using mpc in MATLAB/Simulink.

DC-Motor-LQR-Control. LQR Control of a DC Motor using Scilab/Xcos

Computed-torque-C. Computed torque control of a pendulum in C

viktor-control-app. The application uses the Python control library to allow you to define your plant transfer function, tune the PID, see the system response and margins.

DC-Motor-State-Feedback-Control. State feedback control of a DC motor - implemented using Scilab/Xcos.

Wheeled-robot-model. Kinematic model of a two-wheeled robot

H-Infinity-Position-Control-Matlab. Example of how to synthetize a position control algorithm using H infinity and mixed-sensitivity with Matlab and Simulink.

dc-motor-simscape. Implementation of a DC motor in Simscape and comparison with the equivalent Simulink model.

trajectory-control. Trajectory control of a wheeled robot in Xcos

Goodwin_Graebe_Salgado_antiwindup. Scilab

dc-motor-simscape-lqr-offset-free. How to implement a LQR controller (state feedback with gains selected via LQR algorithm) with no steady state error (offset free).

taycan-MPC-slope. How to use Model Predictive Control to control the speed of a Porsche Taycan model. Explore slope disturbance rejection.

State-feedback-integral-C. Implementation of a state feedback control algorithm in C

ADRC-Pendulum. Example of how to implement ADRC control on a pendulum model. This Python code is used to plot the result of a model implemented using Collimator (https://collimator.ai).

DC-Motor-State-Space. Xcos model of a DC motor - Differential equation and state space model

State-feedback-integral. The model and the code show the implementation of a state-feedback controller with integral action in Xcos.

DC-motor-model. Xcos model of a DC motor

DC-Motor-State-Feedback-Control-Offset-Free. Offset-free State Feedback Control of a DC Motor using Matlab/Simulink.

Kalman-Filter-DC-Motor-PID. How to set up a Kalman Filter to estimate the speed of a DC motor starting from a noisy angular position measurement, and use a PID to control its speed.

zero-offset-MPC. How to use a state observer to implement a zero-offset Model Predictive Control algorithm.

lead-compensator-disturbance-observer. How to use a disturbance observer to enhance the performance of a lead-compensator.

Lead-Compensator-C. How to implement a Lead Compensator in C

loopshaping-and-disturbance-observer. How to design an H infinity controller to perform position control on a moving object, including a disturbance observer for constant disturbance rejection.

PID-tuning-opt-car. Optimisation of PID parameters implemented in Python, using scipy.optimize.minimize.

second-order-lp. How to translate a second order filter from the continuous time domain to C code.

autonomous-marine-surface-vessel-control. Implementation of an Autonomous Marine Surface Vessel Control system in Simulink - controlling heading and speed.

Python-poles-and-zeros. How to use Python and the control library to calculate poles and zeros of a transfer function.

ADRC-Example. Active Disturbance Rejection Control Example

autonomous-marine-surface-vessel-model. Implementation of an Autonomous Marine Surface Vessel Model in Simulink

pendulum-simscape-multibody. How to model a pendulum using Simscape Multibody

PID-Root-Locus. Design of a PID Controller using the root locus.

self-balancing-robot. Model of a self-balancing robot. This Python code is used to plot the result of a model implemented using Collimator (https://collimator.ai).

delay-margin. Demonstration of what delay margin and phase margin mean.

Two-DOF-Robotic-Arm-Manipulator-Computed-Torque. Control of a Two-DOF robotic arm manipulator using the computed torque control method. Simulation using Collimator.ai.

control-sisotool. control.sisotool examples

DC-Motor-Reduced-Order. How (and why) to reduce a dynamic system.

adrc-vs-pid. Comparison between ADRC and PID on Collimator.

systune-performance-robustness. How to tune for performance and robustness

PID_Tracking_Mode. Scilab

Feeforward_tuning. Scilab

quanser_dc_motor_control. Control algorithms to control the Quanser DC Motor

Kalman-Filter-DC-Motor-Python. How to set up a Kalman Filter to estimate the speed of a DC motor starting from a noisy angular position measurement, in Python.

Two-Degree-of-Freedom-PID. Analyse a Two Degree of Freedom PID in Python.