IDvsPDControlExperiment

Data needed to replicate Inverse Dynamics controller vs. PD controller in simulation

The gains for the PID controller at timestep 0.001 are in the file gains.dat

The controller gains for the ID controller at its three timesteps are in IDgains.dat

Currently, the function for the ID controller is commented out in sinusoidal-controller.cpp, to run the ID controller, comment the current PID controller function and uncomment the ID controller function

The data for the plots at each time step is in the ControllerData folder

Plots generated from the data in ControllerData are in FinalPlots folder

NOTE the dependencies on Positronics Lab code Moby and Ravelin found on Github