Bugfix/documentation release

• get_controlled_closed_loop(): Added warning about automatically computed derivative gain when the plant is not second order
• small documentation fix in relativeOrder()
• Fixed a bug in jointBuilder that would allow to:
  --- Use nonlinear models from anywhere (ignore file location), if multiple were specified
  --- Use electrical dynamics models from anywhere (ignore file location)

Bugfix release

Bugs fixed: #71, #72, #73, and possibly #70.

Minor fixes, DOB tools updates

Some minor updates and bugfixes, and new functionality in the DOB tools.

• Fixed x-axis log scale and legends in getModel_fromData() and getLinearDOB_fromData() tools
• Added RAM paper preprint, updated bibtex and README
• Updated input (current) noise and encoder measurement noise variances from measurements from real TREE Robotics actuator data
• DOB tools updates: option to set order manually (default: minimum order, relative order of plant seen by the DOB), some code cleanup
• Documentation in linear models on sizes of I, R, K.

Bugfix release

• Bugfix: Fixed computation of d_gl damping term in output_fixed
• Bugfix: Fixed computation of d_gl damping term in jointBus output "TorqueFiltered" - damping term should not be included as "Torque" and "TorqueFiltered" denote sensed signals (and we consider the torque measurement to be pure deflection/stiffness based)

Bugfix release

This release fixes a few small bugs:

• Removed _no_friction models and made associated changes. Models without friction can still easily be generated by setting the friction parameters to zero.
• Linear model output_fixed: Fixed symbolic generation of D matrix when d_gl != 0
• Fixed saveCompatible file list, by adding missing unit test Simulink file
• Fixed cjtExamples.m GUI line break causing index issues
• Updated README

v1.0 stable release

This release is a large one, which really elevates the toolbox up in quality. In particular, a lot of stuff has added/changed that should help new users, such as documentation and examples. Due to this, we feel finally tagging 1.0 is appropriate.

Feedback, bugs and pull requests always welcome!

• A lot of documentation
• New examples
• Simulink library compatibility down to R2016a through use of saveCompatible()
• Added d-q electrical dynamics (for field-oriented control) and current controller
• Cleanup of jointBus output variables: all NoNoise variables are physical quantities
• Cleaned up old parameter files, controllers, etc.
• Added friction compensator and passivity based controller
• Unit tests for nearly all functionality
• Some issues with unit delays / discretisation fixed
• Many other (small) bugfixes
• Much more!

Bugfix release

Fixes a bug in get_controlled_closed_loop involving computation of optimal D-gains (to achieve desired 2nd order system damping ratio) for ideal PID forms.