Experiments conducted on real inverted pendulum

Experiments_OpenLoop/ButterFilter.py

+
+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

Experiments_OpenLoop/Data_couple_0_1/Coordonees_0_1.txt

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Experiments_OpenLoop/Data_couple_0_17/Coordonees1_0_17.txt

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