Commit 5dd426d5 authored by Farid Alijani's avatar Farid Alijani
Browse files

Paper modified for print

parent 16c50dd4
......@@ -155,8 +155,8 @@ hold on
plot(t_P_sec_data_2,Pose_X_data_2,'r','LineWidth',1.7);
% hold on
% plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',1.6);
ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',20);
title('a) ${x_{mar}}$','interpreter','latex','FontSize',20);
% ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',20);
% title('a) ${x_{mar}}$','interpreter','latex','FontSize',20);
% set(gca,'fontsize',20);
subplot(323);
......@@ -165,8 +165,8 @@ hold on
plot(t_P_sec_data_2,Pose_Y_data_2,'r','LineWidth',1.7);
% hold on
% plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.6);
ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',20);
title('b) ${y_{mar}}$','interpreter','latex','FontSize',20);
% ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',20);
% title('b) ${y_{mar}}$','interpreter','latex','FontSize',20);
% set(gca,'fontsize',20);
subplot(325);
......@@ -176,9 +176,9 @@ plot(t_P_sec_data_2,Theta_data_2,'r','LineWidth',1.7);
% hold on
% plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.6);
title('c) ${\theta_{mar}}$','interpreter','latex','FontSize',20);
ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',20);
xlabel('$ time$ [s]','interpreter','latex','FontSize',20);
% title('c) ${\theta_{mar}}$','interpreter','latex','FontSize',20);
% ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',20);
% xlabel('$ time$ [s]','interpreter','latex','FontSize',20);
% set(gca,'fontsize',20);
% % control signals
......@@ -192,9 +192,9 @@ hold on
plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.7);
% hold on
% plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.6);
title('d) $\dot{x}_{Rob}$','interpreter','latex','FontSize',20);
ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
%
% title('d) $\dot{x}_{Rob}$','interpreter','latex','FontSize',20);
% ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
l2 = legend('${Left}$', '${Right}$');
set(l2,'interpreter','latex','FontSize',14);
......@@ -208,8 +208,8 @@ hold on
plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.7);
% hold on
% plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.6);
ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
title('e) $\dot{y}_{Rob}$','interpreter','latex','FontSize',20);
% ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
% title('e) $\dot{y}_{Rob}$','interpreter','latex','FontSize',20);
% set(gca,'fontsize',20);
subplot(326);
......@@ -218,9 +218,9 @@ hold on
plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.7);
% hold on
% plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.6);
xlabel('$ time$ [s]','interpreter','latex','FontSize',20);
ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',20);
title('f) $\dot{\theta}_{Rob}$','interpreter','latex','FontSize',20);
% xlabel('$ time$ [s]','interpreter','latex','FontSize',20);
% ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',20);
% title('f) $\dot{\theta}_{Rob}$','interpreter','latex','FontSize',20);
% set(gca,'fontsize',20);
% Trajectory
......@@ -247,8 +247,8 @@ hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
% axis([-.4 .4 .18 1.4]);
title('${a) Approach + SM + Target}$','interpreter','latex','FontSize',20);
ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',20);
% title('${a) Approach + SM + Target}$','interpreter','latex','FontSize',20);
% ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',20);
% set(gca,'fontsize',20);
subplot(132);
......@@ -260,8 +260,8 @@ plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',1.6);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('$ {b) SM + Target}$','interpreter','latex','FontSize',20);
xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',20);
% title('$ {b) SM + Target}$','interpreter','latex','FontSize',20);
% xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',20);
axis([-.03 0.03 -.29 -.191]);
% set(gca,'fontsize',20);
......@@ -274,7 +274,7 @@ plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('$ {c) Target}$','interpreter','latex','FontSize',20);
% title('$ {c) Target}$','interpreter','latex','FontSize',20);
axis([-.0202 -.017 -.2054 -.199]);
% set(gca,'fontsize',20);
......
......@@ -9,11 +9,11 @@ yaw_off = pi;
% 557 ros messages for geometry_msgs/PoseStamped
%
% Pose_Matrix_data_1 = csvread('POSE_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
% Vel_Matrix_data_1 = csvread('VEL_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
Pose_Matrix_data_1 = csvread('POSE_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
Vel_Matrix_data_1 = csvread('VEL_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
Pose_Matrix_data_1 = csvread('CAM_PID_.28_.0001_.01.txt',1,0);
Vel_Matrix_data_1 = csvread('vel_PID_.28_.0001_.01.txt',1,0);
% Pose_Matrix_data_1 = csvread('CAM_PID_.28_.0001_.01.txt',1,0);
% Vel_Matrix_data_1 = csvread('vel_PID_.28_.0001_.01.txt',1,0);
% time in position
TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
......@@ -41,12 +41,12 @@ t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];
% theta-axis gains:
% P = .28; I = 0.1; D = 0.15;
% %
% Pose_Matrix_data_2 = csvread('POSE_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
% Vel_Matrix_data_2 = csvread('VEL_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
%
Pose_Matrix_data_2 = csvread('CAM_PID_.29_.00026_.015.txt',1,0);
Vel_Matrix_data_2 = csvread('vel_PID_.29_.00026_.015.txt',1,0);
Pose_Matrix_data_2 = csvread('POSE_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
Vel_Matrix_data_2 = csvread('VEL_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
% Pose_Matrix_data_2 = csvread('CAM_PID_.29_.00026_.015.txt',1,0);
% Vel_Matrix_data_2 = csvread('vel_PID_.29_.00026_.015.txt',1,0);
% time in position
TimeP_ros_data_2 = Pose_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
......@@ -74,12 +74,12 @@ t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
% theta-axis gains:
% P = .08; I = 0; D = 0;
%
% Pose_Matrix_data_3 = csvread('POSE_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
% Vel_Matrix_data_3 = csvread('VEL_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
Pose_Matrix_data_3 = csvread('Trans_PID_.28_0_.006.txt',1,0);
Vel_Matrix_data_3 = csvread('vel_PID_.28_0_.006.txt',1,0);
Pose_Matrix_data_3 = csvread('POSE_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
Vel_Matrix_data_3 = csvread('VEL_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
% Pose_Matrix_data_3 = csvread('Trans_PID_.28_0_.006.txt',1,0);
% Vel_Matrix_data_3 = csvread('vel_PID_.28_0_.006.txt',1,0);
% time in position
TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
......@@ -107,12 +107,12 @@ t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];
% theta-axis gains:
% P = .08; I = 0; D = 0;
%
% Pose_Matrix_data_4 = csvread('POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
% Vel_Matrix_data_4 = csvread('VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
Pose_Matrix_data_4 = csvread('CAM_PID_.266_.0003_.014.txt',1,0);
Vel_Matrix_data_4 = csvread('vel_PID_.266_.0003_.014.txt',1,0);
Pose_Matrix_data_4 = csvread('POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
Vel_Matrix_data_4 = csvread('VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
% Pose_Matrix_data_4 = csvread('CAM_PID_.266_.0003_.014.txt',1,0);
% Vel_Matrix_data_4 = csvread('vel_PID_.266_.0003_.014.txt',1,0);
% time in position
TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
......
......@@ -167,7 +167,6 @@ for i = 1:points_DockedwithBOX
Y_obst_DockedwithBOX(i)= dist_to_obst * sin(s_angle_DockedwithBOX(i));
end
% checking accuracy in robot coordinate system
figure;
set(gcf,'color','white');
......@@ -197,7 +196,7 @@ orig_coordinate_cir = gca; % create axes
plot(orig_coordinate_cir,s_angle_DockedwithMar,s_val_DockedwithMar,'b','LineWidth',2.7);
hold on
plot(orig_coordinate_cir,s_angle_DockedwithMar,dist_to_obst,'r','LineWidth',2.7);
ylabel('$ {Distance} $ [m]','interpreter','latex','FontSize',20);
% ylabel('$ {Distance} $ [m]','interpreter','latex','FontSize',20);
axis([-2.3 2.3 -.5 10]);
% set(orig_coordinate_cir,'box','off','fontsize',20);
set(orig_coordinate_cir,'box','off');
......@@ -224,42 +223,41 @@ set(zoomed_coordinate_cir,'ylim',[.08 .2])% axes limit for zoom out,
set(zoomed_coordinate_cir, 'Units', 'normalized', 'Position', [.35 0.48 0.15 0.18])
% ----- Zoomed in ------
subplot(324);
orig_coordinate_cir_T = gca; % create axes
plot(orig_coordinate_cir_T,X_DockedwithMar,Y_DockedwithMar,'b','LineWidth',2.7);
hold on;
plot(orig_coordinate_cir_T,X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',3);
ylabel('$ {Y} $ [m]','interpreter','latex','FontSize',20);
axis([-2 4.5 -4 1.5]);
% set(orig_coordinate_cir_T,'box','off','fontsize',20);
set(orig_coordinate_cir_T,'box','off');
% ----- Zoomed in ------
hkids_cir_T = get(orig_coordinate_cir_T, 'child'); % get original coordinate properties
% subplot(324);
% orig_coordinate_cir_T = gca; % create axes
% plot(orig_coordinate_cir_T,X_DockedwithMar,Y_DockedwithMar,'b','LineWidth',2.7);
% hold on;
% plot(orig_coordinate_cir_T,X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',3);
% % ylabel('$ {Y} $ [m]','interpreter','latex','FontSize',20);
% axis([-2 4.5 -4 1.5]);
% % set(orig_coordinate_cir_T,'box','off','fontsize',20);
% set(orig_coordinate_cir_T,'box','off');
%
% set(hkids_cir_T(1),'marker','.','Color','r')
% set(hkids_cir_T(2),'marker','*')
set(hkids_cir_T(1),'Color','r')
set(hkids_cir_T(2),'Color','b')
zoomed_coordinate_cir_T = axes('Position',get(orig_coordinate_cir_T,'Position'),...
'XAxisLocation','bottom',...
'YAxisLocation','left',...
'fontsize',10,...
'Color','none',...
'XColor','k','YColor','k', 'NextPlot', 'add'); % make ax2. Use nexplot to maintain your settings
plot(zoomed_coordinate_cir_T,X_DockedwithMar,Y_DockedwithMar,'b','LineWidth',2.7);
hold on;
plot(zoomed_coordinate_cir_T,X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',3);
set(zoomed_coordinate_cir_T,'xlim',[.08 .13])% axes limit for zoom out,
set(zoomed_coordinate_cir_T,'ylim',[-.06 .06])% axes limit for zoom out,
set(zoomed_coordinate_cir_T, 'Units', 'normalized', 'Position', [.84 0.485 0.15 0.18])
% ----- Zoomed in ------
% % ----- Zoomed in ------
% hkids_cir_T = get(orig_coordinate_cir_T, 'child'); % get original coordinate properties
% %
% % set(hkids_cir_T(1),'marker','.','Color','r')
% % set(hkids_cir_T(2),'marker','*')
%
% set(hkids_cir_T(1),'Color','r')
% set(hkids_cir_T(2),'Color','b')
%
%
% zoomed_coordinate_cir_T = axes('Position',get(orig_coordinate_cir_T,'Position'),...
% 'XAxisLocation','bottom',...
% 'YAxisLocation','left',...
% 'fontsize',10,...
% 'Color','none',...
% 'XColor','k','YColor','k', 'NextPlot', 'add'); % make ax2. Use nexplot to maintain your settings
%
% plot(zoomed_coordinate_cir_T,X_DockedwithMar,Y_DockedwithMar,'b','LineWidth',2.7);
% hold on;
% plot(zoomed_coordinate_cir_T,X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',3);
%
% set(zoomed_coordinate_cir_T,'xlim',[.08 .13])% axes limit for zoom out,
% set(zoomed_coordinate_cir_T,'ylim',[-.06 .06])% axes limit for zoom out,
% set(zoomed_coordinate_cir_T, 'Units', 'normalized', 'Position', [.84 0.485 0.15 0.18])
% % ----- Zoomed in ------
subplot(325);
......@@ -267,7 +265,7 @@ orig_coordinate_box = gca; % create axes
plot(orig_coordinate_box,s_angle_DockedwithBOX,s_val_DockedwithBOX,'b','LineWidth',2.7);
hold on
plot(orig_coordinate_box,s_angle_DockedwithBOX,dist_to_obst, 'r','LineWidth',3);
xlabel('$ {\theta_b} $ [rad]','interpreter','latex','FontSize',20);
% xlabel('$ {\theta_b} $ [rad]','interpreter','latex','FontSize',20);
axis([-2.3 2.3 -.15 5]);
% set(orig_coordinate_box,'box','off','fontsize',20);
set(orig_coordinate_box,'box','off');
......@@ -300,7 +298,7 @@ orig_coordinate_box_T = gca; % create axes
plot(orig_coordinate_box_T,X_DockedwithBOX,Y_DockedwithBOX,'b','LineWidth',2.7);
hold on
plot(orig_coordinate_box_T,X_obst_DockedwithMar,Y_obst_DockedwithMar, 'r','LineWidth',3);
xlabel('$ {X} $ [m]','interpreter','latex','FontSize',20);
% xlabel('$ {X} $ [m]','interpreter','latex','FontSize',20);
axis([-.53 .9 -.8 1.5]);
% set(orig_coordinate_box_T,'box','off','fontsize',20);
set(orig_coordinate_box_T,'box','off');
......
......@@ -263,8 +263,9 @@ plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',1.7);
hold on
plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.6);
% set(gca,'fontsize',20);
ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',20);
title('a) ${x_{mar}}$','interpreter','latex','FontSize',20);
% ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',20);
% title('a) ${x_{mar}}$','interpreter','latex','FontSize',20);
%
% l2 = legend('${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$', '${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$');
% set(l2,'interpreter','latex','FontSize',9);
......@@ -281,8 +282,8 @@ plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.7);
hold on
plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6);
% set(gca,'fontsize',20);
ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',20);
title('b) ${y_{mar}}$','interpreter','latex','FontSize',20);
% ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',20);
% title('b) ${y_{mar}}$','interpreter','latex','FontSize',20);
% subplot(338);
subplot(325);
......@@ -295,9 +296,9 @@ plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.7);
hold on
plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.6);
% set(gca,'fontsize',20);
title('c) ${\theta_{mar}}$','interpreter','latex','FontSize',20);
xlabel('$ time [s]$','interpreter','latex','FontSize',20);
ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',20);
% title('c) ${\theta_{mar}}$','interpreter','latex','FontSize',20);
% xlabel('$ time [s]$','interpreter','latex','FontSize',20);
% ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',20);
% Control Signals
......@@ -317,8 +318,8 @@ plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.7);
hold on
plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.6);
% set(gca,'fontsize',20);
title('d) $\dot{x}_{Rob}$','interpreter','latex','FontSize',20);
ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
% title('d) $\dot{x}_{Rob}$','interpreter','latex','FontSize',20);
% ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
%
% l2 = legend('${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$', '${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$');
% set(l2,'interpreter','latex','FontSize',13);
......@@ -336,8 +337,8 @@ plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.7);
hold on
plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.6);
% set(gca,'fontsize',20);
ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
title('e) $\dot{y}_{Rob}$','interpreter','latex','FontSize',20);
% ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
% title('e) $\dot{y}_{Rob}$','interpreter','latex','FontSize',20);
% subplot(339);
subplot(326);
......@@ -350,9 +351,9 @@ plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.7);
hold on
plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.6);
% set(gca,'fontsize',20);
title('f) $\dot{\theta}_{Rob}$','interpreter','latex','FontSize',20);
xlabel('$ time [s]$','interpreter','latex','FontSize',20);
ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',20);
% title('f) $\dot{\theta}_{Rob}$','interpreter','latex','FontSize',20);
% xlabel('$ time [s]$','interpreter','latex','FontSize',20);
% ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',20);
% Trajectory
......@@ -381,8 +382,8 @@ plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
% set(gca,'fontsize',20);
title('${a) Approach + SM + Target}$','interpreter','latex','FontSize',20);
ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',20);
% title('${a) Approach + SM + Target}$','interpreter','latex','FontSize',20);
% ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',20);
% axis([-.65 .05 -1.6 -.19]);
axis([-.65 .03 -1.47 -.16]);
subplot(132);
......@@ -396,8 +397,8 @@ plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
% set(gca,'fontsize',20);
title('$ {b) SM + Target}$','interpreter','latex','FontSize',20);
xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',20);
% title('$ {b) SM + Target}$','interpreter','latex','FontSize',20);
% xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',20);
axis([-.025 0.005 -.29 -.19]);
% axis([-.033 -.01 -.26 -.195]);
subplot(133);
......@@ -411,7 +412,7 @@ plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
% set(gca,'fontsize',20);
title('$ {c) Target}$','interpreter','latex','FontSize',20);
% title('$ {c) Target}$','interpreter','latex','FontSize',20);
% axis([-.0205 -.0168 -.2054 -.199]);
axis([-.0201 -.017 -.206 -.1995]);
l = legend('${P_y = .266, I_y = .0003, D_y = .014}$', '${P_y = .28, I_y = 0, D_y = .006}$','${P_y = .29, I_y = .00026, D_y = .015}$','${P_y = .3, I_y = .0004, D_y = .02}$','${Target}$');
......
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