Simone Bertoni's repositories
PID-Velocity-Algorithm
How to implement a PID using the velocity form.
Kalman-Filter-DC-Motor
How to set up a Kalman Filter to estimate the speed of a DC motor starting from a noisy angular position measurement.
DC-Motor-Reduced-Order
How (and why) to reduce a dynamic system.
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.
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.
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).
lead-compensator-disturbance-observer
How to use a disturbance observer to enhance the performance of a lead-compensator.
pendulum-dc-motor-simscape
How to create the model of a pendulum in Simscape, drive by a DC-motor through a gearbox.
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).
pendulum-simscape-multibody
How to model a pendulum using Simscape Multibody
delay-margin
Demonstration of what delay margin and phase margin mean.
dc-motor-simscape
Implementation of a DC motor in Simscape and comparison with the equivalent Simulink model.
autonomous-marine-surface-vessel-control
Implementation of an Autonomous Marine Surface Vessel Control system in Simulink - controlling heading and speed.
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-State-Feedback-Control-Offset-Free
Offset-free State Feedback Control of a DC Motor using Matlab/Simulink.
autonomous-marine-surface-vessel-model
Implementation of an Autonomous Marine Surface Vessel Model in Simulink
zero-offset-MPC
How to use a state observer to implement a zero-offset Model Predictive Control algorithm.
control-sisotool
control.sisotool examples
DC-Motor-LQR-Control
LQR Control of a DC Motor using Scilab/Xcos
Python-poles-and-zeros
How to use Python and the control library to calculate poles and zeros of a transfer function.
PID-Root-Locus
Design of a PID Controller using the root locus.
Two-Degree-of-Freedom-PID
Analyse a Two Degree of Freedom PID in Python.
Simple-Linearization
Linearization and control of a simple non-linear system on an unstable equilibrium.
DC-Motor-State-Feedback-Control
State feedback control of a DC motor - implemented using Scilab/Xcos.
DC-Motor-State-Space
Xcos model of a DC motor - Differential equation and state space 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.
filtered-derivative-C
How to implement a filtered derivative 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).
ADRC-Example
Active Disturbance Rejection Control Example
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).