Commit e3a2a202 authored by Fnadi Mohamed's avatar Fnadi Mohamed
Browse files

Experiments conducted on real inverted pendulum

parent affd1541
import numpy as np
from scipy.signal import butter, lfilter, freqz, firwin
import matplotlib.pyplot as plt
from scipy import fftpack
from matplotlib import pyplot as plt
from math import *
from scipy import interpolate
from scipy import signal
from scipy import spatial
from numpy import mean,pi,cos,sin,sqrt,tan,arctan,arctan2,tanh,arcsin,\
exp,dot,array,log,inf, eye, zeros, ones, inf,size,\
arange,reshape,concatenate,vstack,hstack,diag,median,sign,sum,meshgrid,cross,linspace,append,round
def butter_lowpass_filter(data, cutOff, fs, order=6):
b, a = signal.butter(order, cutOff)
y =signal.filtfilt(b, a, data)
return y
def firwin_filter(data, cutOff, fs, order=6):
numtaps = 50
a = signal.firwin(numtaps, cutOff, window = "hamming")
b = [1.0]
y =signal.filtfilt(b, a, data)
return y
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