diff --git a/Files_4_thesis/Different_angle/Pose_center.txt b/Files_4_thesis/Different_angle/Pose_center.txt
index 0d80b8a98d3ae50f58bed6fbc570022ac73d1853..4f6fc8814aba488ff8029f33709d4bf93a7e8257 100644
--- a/Files_4_thesis/Different_angle/Pose_center.txt
+++ b/Files_4_thesis/Different_angle/Pose_center.txt
@@ -1,340 +1,448 @@
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diff --git a/Files_4_thesis/Different_angle/Pose_left.txt b/Files_4_thesis/Different_angle/Pose_left.txt
index 793c969ed913d19297d400f50884c4ffc92d959c..fadffc7de8c01fffa37114a119ba9ed4de4e2796 100644
--- a/Files_4_thesis/Different_angle/Pose_left.txt
+++ b/Files_4_thesis/Different_angle/Pose_left.txt
@@ -1,311 +1,430 @@
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diff --git a/Files_4_thesis/Different_angle/Pose_right.txt b/Files_4_thesis/Different_angle/Pose_right.txt
index 49fe45cc36c7a3809268675484f2167454910d9d..0348b18a1aa2c56ef22f91b6e45cbaa0377a6fac 100644
--- a/Files_4_thesis/Different_angle/Pose_right.txt
+++ b/Files_4_thesis/Different_angle/Pose_right.txt
@@ -1,429 +1,452 @@
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diff --git a/Files_4_thesis/Different_angle/Velocity_center.txt b/Files_4_thesis/Different_angle/Velocity_center.txt
index 1300bd81b88ee11b39da28c7b01f73987e388316..efe4039ff64a5531e310fa8869b95c6a8a799af2 100644
--- a/Files_4_thesis/Different_angle/Velocity_center.txt
+++ b/Files_4_thesis/Different_angle/Velocity_center.txt
@@ -1,339 +1,447 @@
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diff --git a/Files_4_thesis/Different_angle/Velocity_left.txt b/Files_4_thesis/Different_angle/Velocity_left.txt
index bff1e98162bd1a95522e8616e467845cddffc2fd..80f80d83b79fbba3a82134b3a4647b76fcfe2811 100644
--- a/Files_4_thesis/Different_angle/Velocity_left.txt
+++ b/Files_4_thesis/Different_angle/Velocity_left.txt
@@ -1,310 +1,429 @@
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diff --git a/Files_4_thesis/Different_angle/Velocity_right.txt b/Files_4_thesis/Different_angle/Velocity_right.txt
index 965a3e3041f750e2ec6e3019bebdbbdde675ad05..e6c7fa2b62ef2d45a62968fe49fb25e71abe0c00 100644
--- a/Files_4_thesis/Different_angle/Velocity_right.txt
+++ b/Files_4_thesis/Different_angle/Velocity_right.txt
@@ -1,428 +1,451 @@
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+1475526888018197728,0.006,0.0,0.0,0.0,0.0,0.0
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+1475526888482198046,0.006,0.0,0.0,0.0,0.0,0.0
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+1475526889751177201,0.006,0.0,0.0,0.0,0.0,0.0
diff --git a/Files_4_thesis/Different_angle/docking_different_angle.m b/Files_4_thesis/Different_angle/docking_different_angle.m
index d90efb21642e530ec7aee84afc9b9a393a917653..02ee048bd131b4a9e17886a3eb17de307a86e23f 100644
--- a/Files_4_thesis/Different_angle/docking_different_angle.m
+++ b/Files_4_thesis/Different_angle/docking_different_angle.m
@@ -3,25 +3,7 @@ close all;
 clear all;
 %% Import data and time conversion
 
-% data 1: 556 ros messages for geometry_msgs/Twist 
-%         557 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% (010816_1718) best!!!
-% P = .4; I = 0; D = 0; 
-
-% y-axis gains:
-% (280716_2024) better!!!
-% P = .44; I = 0; D = 0; 
-
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
-
-% y-axis gains:
-% (280716_2002)
-% P = .46; I = 0; D = 0; 
-
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
+% data 1: 
 
 Pose_Matrix_data_1 = csvread('Pose_left.txt',1,0);
 Vel_Matrix_data_1 = csvread('Velocity_left.txt',1,0);
@@ -45,13 +27,7 @@ t_V_sec_data_1 = 0:durationV_data_1/size(TimeV_ros_data_1,1):durationV_data_1;
 t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];
 
 % -----------------------------------------------------------------------------------------------------
-% data 2: 588 ros messages for geometry_msgs/Twist 
-%         589 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% P = .5; I = 0.001; D = 0.03;
-
-% theta-axis gains:
-% P = .28; I = 0.1; D = 0.15;
+% data 2: 
 
 Pose_Matrix_data_2 = csvread('Pose_center.txt',1,0);
 Vel_Matrix_data_2 = csvread('Velocity_center.txt',1,0);
@@ -76,17 +52,11 @@ t_V_sec_data_2 = 0:durationV_data_2/size(TimeV_ros_data_2,1):durationV_data_2;
 t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
 
 % -----------------------------------------------------------------------------------------------------
-% data 3: 538 ros messages for geometry_msgs/Twist 
-%         539 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% P = .44; I = .0005; D = 0.15;
-
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
-
+% data 3: 
 Pose_Matrix_data_3 = csvread('Pose_right.txt',1,0);
 Vel_Matrix_data_3 = csvread('Velocity_right.txt',1,0);
 
+
 % time in position
 TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
 
@@ -115,11 +85,6 @@ Pose_Y_data_1 = Pose_Matrix_data_1(:,3);
 Theta_data_1 = Pose_Matrix_data_1(:,5);
 
 
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
-
 % Extracting reference values when the robot is manually docked!
 ref_X_data_1 = Pose_X_data_1(size(Pose_X_data_1,1));
 ref_Y_data_1 = Pose_Y_data_1(size(Pose_Y_data_1,1));
@@ -132,10 +97,6 @@ Pose_X_data_2 = Pose_Matrix_data_2(:,4);
 Pose_Y_data_2 = Pose_Matrix_data_2(:,3);
 Theta_data_2 = Pose_Matrix_data_2(:,5);
 
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
 
 % Extracting reference values when the robot is manually docked!
 ref_X_data_2 = Pose_X_data_2(size(Pose_X_data_2,1));
@@ -149,11 +110,6 @@ Pose_X_data_3 = Pose_Matrix_data_3(:,4);
 Pose_Y_data_3 = Pose_Matrix_data_3(:,3);
 Theta_data_3 = Pose_Matrix_data_3(:,5);
 
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
-
 % Extracting reference values when the robot is manually docked!
 ref_X_data_3 = Pose_X_data_3(size(Pose_X_data_3,1));
 ref_Y_data_3 = Pose_Y_data_3(size(Pose_Y_data_3,1));
@@ -161,11 +117,11 @@ ref_Theta_data_3 = Theta_data_3(size(Theta_data_3,1));
 ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];
 
 % Reference Circle 
-thresh_X = .001;
+thresh_X = .0013;
 theta = 0:.001:2*pi;
 % needs to be adjusted manually if docking platform is replaced!
-ref_x = .201;
-ref_y = .0138;
+ref_x = -.2025;
+ref_y = -.0185;
 x_circle = thresh_X*cos(theta) + ref_x; % ref_X needs to be recorded
 y_circle = thresh_X*sin(theta) + ref_y; % ref_Y needs to be recorded
 
@@ -189,17 +145,6 @@ Omega_Z_data_3 = Vel_Matrix_data_3(:,7);
 
 %% Plots
 
-% for the presenation all pose estimation(x,y,theta) in one plot
-
-% figure;
-% plot(t_P_sec,Pose_X,'b',t_P_sec,Pose_Y,'r',t_P_sec,Theta,'g');
-% 
-% title('Marker Pose');
-% xlabel('Time [sec]');
-% ylabel('Pose');
-% legend('X [m]','Y [m]','\theta [rad]');
-% grid on
-
 % marker position
 figure;
 set(gcf,'color','white');
@@ -208,13 +153,13 @@ subplot(3,1,1);
 plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',3);
 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);
+% hold on
+% plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',1.6);
 
 title('Pose estimation in marker coordinate system');
 ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
 
-l2 = legend('${Config. 3}$', '${Center}$','${Config. 4}$');
+l2 = legend('Left', 'Right');
 set(l2,'interpreter','latex','FontSize',11);
 legend('boxoff');
 
@@ -222,16 +167,16 @@ subplot(3,1,2);
 plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
 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);
+% hold on
+% plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.6);
 ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
 
 subplot(3,1,3);
 plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
 hold on
 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);
+% hold on
+% plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.6);
 
 xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
 ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
@@ -240,17 +185,17 @@ ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
 figure;
 set(gcf,'color','white');
 
-subplot(3,1,1);
+subplot(311);
 
 plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3);
 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);
+% hold on
+% plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.6);
 
 title('Control Signals');
 ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
-l2 = legend('${Config. 3}$', '${Center}$','${Config. 4}$');
+l2 = legend('${Left}$', '${Right}$');
 set(l2,'interpreter','latex','FontSize',11);
 legend('boxoff')
 
@@ -258,8 +203,8 @@ subplot(3,1,2);
 plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',3);
 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);
+% 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',14);
 
 
@@ -267,40 +212,13 @@ subplot(3,1,3);
 plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',3);
 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);
+% hold on
+% plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.6);
 xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
 ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
 
 % Trajectory 
 
-
-% figure;
-% plot(Pose_Y_data_1,Pose_X_data_1,'b',ref_Y_data_1,ref_X_data_1,'k*');
-% hold on
-% plot(Pose_Y_data_2,Pose_X_data_2,'r',ref_Y_data_2,ref_X_data_2,'k*');
-% 
-% hold on
-% plot(Pose_Y_data_3,Pose_X_data_3,'g',ref_Y_data_3,ref_X_data_3,'k*');
-% 
-
-% 
-% for k = Pose_X_data_1(1):Pose_X_data_1(size(Pose_X_data_1,1))
-%     x_arrow(k) = 
-%     
-% end
-% 
-% x_arrow = linspace(Pose_X_data_1(1),Pose_X_data_1(size(Pose_X_data_1,1)),150);
-% y_arrow = linspace(Pose_Y_data_1(1),Pose_Y_data_1(size(Pose_Y_data_1,1)),150);
-% 
-% Vx = gradient(x_arrow,.01);
-% Vy = gradient(y_arrow,.01);
-% 
-% figure;
-% plot(y_arrow,x_arrow,'b--','LineWidth',.5);
-% % hold on
-% % quiver(y_arrow,x_arrow,Vy,Vx,'r--','LineWidth',1.5);
-% 
 figure;
 set(gcf,'color','white');
 
@@ -314,8 +232,8 @@ plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
 % hold on
 % quiver(Pose_Y_data_2,Pose_X_data_2,gradient(Pose_Y_data_2),gradient(Pose_X_data_2),'m--','LineWidth',.01);
 
-hold on
-plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
+% hold on
+% plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
 % hold on
 % quiver(Pose_Y_data_3,Pose_X_data_3,gradient(Pose_Y_data_3),gradient(Pose_X_data_3),'k--','LineWidth',.01);
 
@@ -324,33 +242,33 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
 title('Approach zone + SM zone + Target area');
 ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
-axis([-.4 .4 .18 1.4]);
+% axis([-.4 .4 .18 1.4]);
 
 subplot(1,3,2);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',1.6);
 hold on
 plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',1.6);
-hold on
-plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',1.6);
+% hold on
+% plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',1.6);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
 title('SM zone + Target area');
 xlabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
-axis([-.01 0.02 .195 .32]);
+axis([-.03 0.03 -.29 -.191]);
 
 subplot(1,3,3);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
 hold on
 plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
-hold on
-plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
+% hold on
+% plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
 title('Target area');
-axis([0.0125 .015 .1995 .2055]);
-l = legend('${Config. 3}$', '${Center}$','${Config. 4}$','Target');
+axis([-.0205 -.0168 -.2054 -.199]);
+l = legend('${Left}$', '${Right}$','Target');
 set(l,'interpreter','latex','FontSize',11);
 
 
diff --git a/Files_4_thesis/MSc_Presentation.pdf b/Files_4_thesis/MSc_Presentation.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..1b61f0e21c988c289ee2c3d1f7dfbf5f7a21c542
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diff --git a/Files_4_thesis/MSc_Presentation.pptx b/Files_4_thesis/MSc_Presentation.pptx
index 524df43a6ff9d61f898c31b4df85384f227a462a..3bf33b7d69656b9920d2dfd74af276c0d88b9729 100644
Binary files a/Files_4_thesis/MSc_Presentation.pptx and b/Files_4_thesis/MSc_Presentation.pptx differ
diff --git a/Files_4_thesis/MSc_Presentation_slides.pdf b/Files_4_thesis/MSc_Presentation_slides.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..706ed70e1ae8710ff6c7030db62f4c15071421f6
Binary files /dev/null and b/Files_4_thesis/MSc_Presentation_slides.pdf differ
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new file mode 100644
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Binary files /dev/null and b/Files_4_thesis/MSc_Presentation_slides.pptx differ
diff --git a/Files_4_thesis/MSc_Thesis_Report_Alijani_Farid.pdf b/Files_4_thesis/MSc_Thesis_Report_Alijani_Farid.pdf
index 8712ef8db120fbe921d0a55a6e09f8f437c02147..9cff5bc446c635a83f860359af57e27f1f6f609b 100644
Binary files a/Files_4_thesis/MSc_Thesis_Report_Alijani_Farid.pdf and b/Files_4_thesis/MSc_Thesis_Report_Alijani_Farid.pdf differ
diff --git a/Files_4_thesis/Popular_Science_Summary.docx b/Files_4_thesis/Popular_Science_Summary.docx
index f3ac5dbaf461659dddcc8fa577c62a3f29fa9fff..e1841c11d7579a949fa2d7e1375ae9952964a915 100644
Binary files a/Files_4_thesis/Popular_Science_Summary.docx and b/Files_4_thesis/Popular_Science_Summary.docx differ
diff --git a/Files_4_thesis/Report_prev.docx b/Files_4_thesis/Report_prev.docx
index cd805b216b07b42e18a867aa28196e27e62a6fdf..0260e383eb8b9d334d2d357c0525858c54a3a53f 100644
Binary files a/Files_4_thesis/Report_prev.docx and b/Files_4_thesis/Report_prev.docx differ
diff --git a/Files_4_thesis/x_tANDy_t/CAM_PID_.266_.0003_.014.txt b/Files_4_thesis/x_tANDy_t/CAM_PID_.266_.0003_.014.txt
new file mode 100644
index 0000000000000000000000000000000000000000..597c19da9d9fa39839d49dbe86d092cf81d797dc
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/CAM_PID_.266_.0003_.014.txt
@@ -0,0 +1,314 @@
+%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
+1475510301875592437,0.0556583628058,-0.573414027691,-1.50187659264,1.54410326481,-0.0410310775042,-0.273475646973,0.0
+1475510301976279137,0.0556345134974,-0.579102635384,-1.49991714954,1.54627633095,-0.0478556007147,-0.277786254883,0.0
+1475510302060713968,0.0557756386697,-0.570029139519,-1.504601717,1.54458892345,-0.0368802584708,-0.270535230637,0.0
+1475510302149015411,0.0555577985942,-0.579652667046,-1.49931895733,1.54352366924,-0.0393681973219,-0.278258085251,0.0
+1475510302237223396,0.0556599609554,-0.573372721672,-1.50193953514,1.54417133331,-0.0404439643025,-0.273432254791,0.0
+1475510302321115298,0.0555627457798,-0.582934975624,-1.49901223183,1.54315829277,-0.0375470221043,-0.280497789383,0.0
+1475510302410262047,0.0557584390044,-0.567189276218,-1.50437498093,1.54488611221,-0.0425708368421,-0.268726587296,0.0
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diff --git a/Files_4_thesis/x_tANDy_t/CAM_PID_.28_0_.006.txt b/Files_4_thesis/x_tANDy_t/CAM_PID_.28_0_.006.txt
index 9bfb01be099a4b3de5415694481c6f84745ca300..53e8aa6007d066c976b14fbdba458b2cd6ecd438 100644
--- a/Files_4_thesis/x_tANDy_t/CAM_PID_.28_0_.006.txt
+++ b/Files_4_thesis/x_tANDy_t/CAM_PID_.28_0_.006.txt
@@ -1,308 +1,344 @@
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diff --git a/Files_4_thesis/x_tANDy_t/CAM_PID_.29_.00026_.015.txt b/Files_4_thesis/x_tANDy_t/CAM_PID_.29_.00026_.015.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e858eb7c10c5792fa3826c0aa23a6562e8b7d4ed
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/CAM_PID_.29_.00026_.015.txt
@@ -0,0 +1,339 @@
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diff --git a/Files_4_thesis/x_tANDy_t/CAM_PID_.3_.0004_.02.txt b/Files_4_thesis/x_tANDy_t/CAM_PID_.3_.0004_.02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fac7e5c94d90c3d13b95c91595cc77a7ddbb6671
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/CAM_PID_.3_.0004_.02.txt
@@ -0,0 +1,707 @@
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diff --git a/Files_4_thesis/x_tANDy_t/Low_pass_filter_Design.m b/Files_4_thesis/x_tANDy_t/Low_pass_filter_Design.m
new file mode 100644
index 0000000000000000000000000000000000000000..93293cd853275331c3c6928cb1481cfff2386456
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/Low_pass_filter_Design.m
@@ -0,0 +1,690 @@
+clc;
+close all;
+clear all;
+
+% -----------------------------------------------------------------------------------------------------
+% data 4: 
+Pose_Matrix_data_4 = csvread('CAM_PID_.266_.0003_.014_R.txt',1,0);
+Vel_Matrix_data_4 = csvread('vel_PID_.266_.0003_.014_R.txt',1,0);
+Trans_Matrix_data_4 = csvread('Trans_PID_.266_.0003_.014_R.txt',1,0);
+
+
+% time in position
+TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationP_data_4 = (TimeP_ros_data_4(size(TimeP_ros_data_4,1),:) - TimeP_ros_data_4(1,:))*10^(-9); 
+  
+t_P_sec_data_4 = 0:durationP_data_4/size(TimeP_ros_data_4,1):durationP_data_4;
+t_P_sec_data_4(:,size(t_P_sec_data_4,2)) = [];
+
+% time in transposed_axis
+TimeTrans_ros_data_4 = Trans_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationT_data_4 = (TimeTrans_ros_data_4(size(TimeTrans_ros_data_4,1),:) - TimeTrans_ros_data_4(1,:))*10^(-9); 
+  
+t_T_sec_data_4 = 0:durationT_data_4/size(TimeTrans_ros_data_4,1):durationT_data_4;
+t_T_sec_data_4(:,size(t_T_sec_data_4,2)) = [];
+
+% time in vel
+TimeV_ros_data_4 = Vel_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationV_data_4 = (TimeV_ros_data_4(size(TimeV_ros_data_4,1),:) - TimeV_ros_data_4(1,:))*10^(-9);
+
+t_V_sec_data_4 = 0:durationV_data_4/size(TimeV_ros_data_4,1):durationV_data_4;
+t_V_sec_data_4(:,size(t_V_sec_data_4,2)) = [];
+
+%% Pose estimation
+
+%data 4:
+
+x_t_4 = Trans_Matrix_data_4(:,4); % x_t
+y_t_4 = Trans_Matrix_data_4(:,3); % y_t
+% theta_t_4 = -abs(Trans_Matrix_data_4(:,7)); % yaw
+theta_t_4 = Trans_Matrix_data_4(:,7); % yaw
+
+Pose_X_data_4 = Pose_Matrix_data_4(:,4);
+% Pose_Y_data_4 = abs(Pose_Matrix_data_4(:,3));
+% Theta_data_4 = -abs(Pose_Matrix_data_4(:,7));
+
+Pose_Y_data_4 = Pose_Matrix_data_4(:,3);
+Pose_Y_data_4 = Pose_Y_data_4 /(.06*length(Pose_Y_data_4));
+
+Theta_data_4 = Pose_Matrix_data_4(:,7);
+Theta_data_4 = Theta_data_4 /(.091*length(Theta_data_4));
+
+% Extracting reference values when the robot is manually docked!
+ref_X_data_4 = Pose_X_data_4(size(Pose_X_data_4,1));
+ref_Y_data_4 = Pose_Y_data_4(size(Pose_Y_data_4,1));
+ref_Theta_data_4 = Theta_data_4(size(Theta_data_4,1));
+ref_Pose_data_4 =[ref_X_data_4;ref_Y_data_4];
+
+% Reference Circle 
+thresh_X = .001;
+theta = 0:.001:2*pi;
+% needs to be adjusted manually if docking platform is replaced!
+ref_x = .20095;
+ref_y = .0081;
+x_circle = thresh_X*cos(theta) + ref_x; % ref_X needs to be recorded
+y_circle = thresh_X*sin(theta) + ref_y; % ref_Y needs to be recorded
+
+%% Velocity estimation
+
+% data 4:
+Vel_X_data_4 = Vel_Matrix_data_4(:,2);
+
+Vel_Y_data_4 = Vel_Matrix_data_4(:,3);
+Vel_Y_data_4 = Vel_Y_data_4 /(.091*length(Vel_Y_data_4));
+
+Omega_Z_data_4 = Vel_Matrix_data_4(:,7);
+Omega_Z_data_4 = Omega_Z_data_4 /(.0095*length(Omega_Z_data_4));
+
+
+
+%% Filter Design for Y axis
+
+Y_mags = abs(fft(Pose_Y_data_4));
+num_bins_Y = length(Y_mags);
+% num_bins_Y = 512;
+norm_freq_axis_Y = 0:1/(num_bins_Y -1):1;
+
+% 
+% figure;
+% plot(Y_mags);
+% xlabel('FFT Bins');
+% ylabel('Magnitude');
+
+% butterworth design technique
+[b_butter_y_5,a_butter_y_5] = butter(5, 0.1, 'low');
+[b_butter_y_10,a_butter_y_10] = butter(9, 0.1, 'low');
+
+% elliptic design technique
+[b_ellip_y_5,a_ellip_y_5] = ellip(5, .5, 40, 0.1, 'low');
+[b_ellip_y_10,a_ellip_y_10] = ellip(9, .5, 40, 0.1, 'low');
+
+% chebyshev design technique
+[b_cheby_y_5,a_cheby_y_5] = cheby1(5,.5, 0.1, 'low');
+[b_cheby_y_10,a_cheby_y_10] = cheby1(9,.5, 0.1, 'low');
+
+% Freq response calc.
+% butterworth design technique
+H_butter_y_5 = freqz(b_butter_y_5,a_butter_y_5, floor(num_bins_Y));
+H_butter_y_10 = freqz(b_butter_y_10,a_butter_y_10, floor(num_bins_Y));
+
+% elliptic design technique
+H_ellip_y_5 = freqz(b_ellip_y_5,a_ellip_y_5, floor(num_bins_Y));
+H_ellip_y_10 = freqz(b_ellip_y_10,a_ellip_y_10, floor(num_bins_Y));
+
+% chebyshev design technique
+H_cheby_y_5 = freqz(b_cheby_y_5,a_cheby_y_5, floor(num_bins_Y));
+H_cheby_y_10 = freqz(b_cheby_y_10,a_cheby_y_10, floor(num_bins_Y));
+
+
+% % Freq response calc.
+% % butterworth design technique
+% H_butter_y_5 = freqz(b_butter_y_5,a_butter_y_5);
+% H_butter_y_10 = freqz(b_butter_y_10,a_butter_y_10);
+% 
+% % elliptic design technique
+% H_ellip_y_5 = freqz(b_ellip_y_5,a_ellip_y_5);
+% H_ellip_y_10 = freqz(b_ellip_y_10,a_ellip_y_10);
+% 
+% % chebyshev design technique
+% H_cheby_y_5 = freqz(b_cheby_y_5,a_cheby_y_5);
+% H_cheby_y_10 = freqz(b_cheby_y_10,a_cheby_y_10);
+% 
+
+% %plot the frequency response (normalised frequency)
+% figure;
+% plot(norm_freq_axis_Y, Y_mags(1:num_bins_Y));
+% hold on;
+% plot(norm_freq_axis_Y, abs(H_butter_y_5),'r');
+% hold on;
+% plot(norm_freq_axis_Y, abs(H_butter_y_10),'g');
+% hold off;
+% 
+% xlabel('Normalised frequency (\pi rads/sample)')
+% ylabel('Magnitude')
+% legend('FFT','butterworth 5th order','butterworth 10th order');
+% % 
+figure;
+% plot(norm_freq_axis_Y, Y_mags(1:num_bins_Y));
+% hold on;
+plot(norm_freq_axis_Y, abs(H_ellip_y_5),'r');
+hold on;
+plot(norm_freq_axis_Y, abs(H_ellip_y_10),'g');
+hold off;
+
+xlabel('Normalised frequency (\pi rads/sample)')
+ylabel('Magnitude')
+legend('FFT','elliptic 5th order','elliptic 10th order');
+
+
+% Plot dB for freq 20log10(?) = -Hz => ? = 10^(-Hz*20)
+% butterworth design technique
+figure;
+plot(norm_freq_axis_Y, 20*log10(abs(H_butter_y_5))); %dB
+hold on;
+plot(norm_freq_axis_Y, 20*log10(abs(H_butter_y_10)),'r'); %dB
+hold off;
+legend('buuerworth 5th','butterworth 10th');
+xlabel('Normalised Frequency ');
+ylabel('Magnitude (dB)');
+
+% elliptic design technique
+figure;
+plot(norm_freq_axis_Y, 20*log10(abs(H_ellip_y_5))); %dB
+hold on;
+plot(norm_freq_axis_Y, 20*log10(abs(H_ellip_y_10)),'r'); %dB
+hold off;
+legend('elliptic 5th','elliptic 10th');
+xlabel('Normalised Frequency ');
+ylabel('Magnitude (dB)');
+
+%Filter the noisy sig
+%butterworth design technique
+y_filt_butter_5 = filter(b_butter_y_5,a_butter_y_5,Pose_Y_data_4);
+%filter the noisy signal and plot the result
+y_filt_butter_10 = filter(b_butter_y_10,a_butter_y_10,Pose_Y_data_4);
+
+
+%elliptic design technique
+y_filt_ellip_5 = filter(b_ellip_y_5,a_ellip_y_5,Pose_Y_data_4);
+%filter the noisy signal and plot the result
+y_filt_ellip_10 = filter(b_ellip_y_10,a_ellip_y_10,Pose_Y_data_4);
+
+%chebyshev design technique
+y_filt_cheby_5 = filter(b_cheby_y_5,a_cheby_y_5,Pose_Y_data_4);
+%filter the noisy signal and plot the result
+y_filt_cheby_10 = filter(b_cheby_y_10,a_cheby_y_10,Pose_Y_data_4);
+
+%plot the filtered signal
+figure;
+% butterworth design technique
+subplot(311);
+plot(t_P_sec_data_4,Pose_Y_data_4);
+hold on;
+plot(t_P_sec_data_4,y_filt_butter_5,'r');
+hold on;
+plot(t_P_sec_data_4,y_filt_butter_10,'g');
+grid on;
+title('Butterworth Filter Design Technique')
+legend('Original signal','5th Order','9th Order');
+
+
+
+% elliptic design technique
+subplot(312);
+plot(t_P_sec_data_4,Pose_Y_data_4);
+hold on;
+plot(t_P_sec_data_4,y_filt_ellip_5,'r');
+hold on;
+plot(t_P_sec_data_4,y_filt_ellip_10,'g');
+hold off;
+grid on;
+title('Elliptic Filter Design Technique')
+ylabel('y_{cam} [m]')
+
+% Chebyshev design technique
+subplot(313);
+plot(t_P_sec_data_4,Pose_Y_data_4);
+hold on;
+plot(t_P_sec_data_4,y_filt_cheby_5,'r');
+hold on;
+plot(t_P_sec_data_4,y_filt_cheby_10,'g');
+hold off;
+grid on;
+title('Chebyshev Filter Design Technique')
+xlabel('Time [sec]');
+
+% Trajectory of butterworth filter design
+figure;
+set(gcf,'color','white');
+plot(y_filt_butter_5,Pose_X_data_4,'b','LineWidth',2);
+hold on
+plot(y_filt_butter_10,Pose_X_data_4,'r','LineWidth',2);
+title('Trajectory of butterworth filter design technique measurement');
+xlabel('y_{filtered}');
+ylabel('x_{mar}');
+legend('5th','9th');
+
+% Trajectory of Elliptic filter design
+figure;
+set(gcf,'color','white');
+plot(y_filt_ellip_5,Pose_X_data_4,'b','LineWidth',2);
+hold on
+plot(y_filt_ellip_10,Pose_X_data_4,'r','LineWidth',2);
+title('Trajectory of Elliptic filter design technique measurement');
+xlabel('y_{filtered}');
+ylabel('x_{mar}');
+legend('5th','9th');
+
+% Trajectory of chebyshev filter design
+figure;
+set(gcf,'color','white');
+plot(y_filt_cheby_5,Pose_X_data_4,'b','LineWidth',2);
+hold on
+plot(y_filt_cheby_10,Pose_X_data_4,'r','LineWidth',2);
+title('Trajectory of chebyshev filter design technique measurement');
+xlabel('y_{filtered}');
+ylabel('x_{mar}');
+legend('5th','9th');
+
+%% Filter Design for theta axis
+
+theta_mags = abs(fft(Theta_data_4));
+num_bins_theta = length(theta_mags);
+norm_freq_axis_theta = 0:1/(num_bins_theta -1):1;
+% 
+% figure;
+% plot(theta_mags);
+% xlabel('FFT Bins');
+% ylabel('Magnitude');
+
+% butterworth design technique
+[b_butter_theta_5,a_butter_theta_5] = butter(3, 0.08, 'low');
+[b_butter_theta_10,a_butter_theta_10] = butter(9, 0.08, 'low');
+
+% elliptic design technique
+[b_ellip_theta_5,a_ellip_theta_5] = ellip(3, .6, 40, 0.08, 'low');
+[b_ellip_theta_10,a_ellip_theta_10] = ellip(9, .6, 40, 0.08, 'low');
+
+% chebyshev design technique
+[b_cheby_theta_5,a_cheby_theta_5] = cheby1(3,.6, 0.08, 'low');
+[b_cheby_theta_10,a_cheby_theta_10] = cheby1(9,.6, 0.08, 'low');
+
+% Freq response calc.
+% butterworth design technique
+H_butter_theta_5 = freqz(b_butter_theta_5,a_butter_theta_5, floor(num_bins_theta));
+H_butter_theta_10 = freqz(b_butter_theta_10,a_butter_theta_10, floor(num_bins_theta));
+
+% elliptic design technique
+H_ellip_theta_5 = freqz(b_ellip_theta_5,a_ellip_theta_5, floor(num_bins_theta));
+H_ellip_theta_10 = freqz(b_ellip_theta_10,a_ellip_theta_10, floor(num_bins_theta));
+
+% chebyshev design technique
+H_cheby_theta_5 = freqz(b_cheby_theta_5,a_cheby_theta_5, floor(num_bins_theta));
+H_cheby_theta_10 = freqz(b_cheby_theta_10,a_cheby_theta_10, floor(num_bins_theta));
+
+% 
+% %plot the frequency response (normalised frequency)
+% figure;
+% plot(norm_freq_axis_theta, theta_mags(1:num_bins_theta));
+% hold on;
+% plot(norm_freq_axis_theta, abs(H_butter_theta_5),'r');
+% hold on;
+% plot(norm_freq_axis_theta, abs(H_butter_theta_10),'g');
+% hold off;
+% 
+% xlabel('Normalised frequency (\pi rads/sample)')
+% ylabel('Magnitude')
+% legend('FFT','butterworth 5th order','butterworth 10th order');
+% 
+% figure;
+% plot(norm_freq_axis_theta, theta_mags(1:num_bins_theta));
+% hold on;
+% plot(norm_freq_axis_theta, abs(H_ellip_theta_5),'r');
+% hold on;
+% plot(norm_freq_axis_theta, abs(H_ellip_theta_10),'g');
+% hold off;
+% 
+% xlabel('Normalised frequency (\pi rads/sample)')
+% ylabel('Magnitude')
+% legend('FFT','elliptic 5th order','elliptic 10th order');
+% 
+% 
+% % Plot dB for freq 20log10(?) = -Hz => ? = 10^(-Hz*20)
+% % butterworth design technique
+% figure;
+% plot(norm_freq_axis_theta, 20*log10(abs(H_butter_theta_5))); %dB
+% hold on;
+% plot(norm_freq_axis_theta, 20*log10(abs(H_butter_theta_10)),'r'); %dB
+% hold off;
+% legend('buuerworth 5th','butterworth 10th');
+% xlabel('Normalised Frequency ');
+% ylabel('Magnitude (dB)');
+% 
+% % elliptic design technique
+% figure;
+% plot(norm_freq_axis_theta, 20*log10(abs(H_ellip_theta_5))); %dB
+% hold on;
+% plot(norm_freq_axis_theta, 20*log10(abs(H_ellip_theta_10)),'r'); %dB
+% hold off;
+% legend('elliptic 5th','elliptic 10th');
+% xlabel('Normalised Frequency ');
+% ylabel('Magnitude (dB)');
+% 
+
+%Filter the noisy sig
+%butterworth design technique
+theta_filt_butter_5 = filter(b_butter_theta_5,a_butter_theta_5,Theta_data_4);
+%filter the noisy signal and plot the result
+theta_filt_butter_10 = filter(b_butter_theta_10,a_butter_theta_10,Theta_data_4);
+
+
+%elliptic design technique
+theta_filt_ellip_5 = filter(b_ellip_theta_5,a_ellip_theta_5,Theta_data_4);
+%filter the noisy signal and plot the result
+theta_filt_ellip_10 = filter(b_ellip_theta_10,a_ellip_theta_10,Theta_data_4);
+
+%chebyshev design technique
+y_filt_cheby_5 = filter(b_cheby_theta_5,a_cheby_theta_5,Theta_data_4);
+%filter the noisy signal and plot the result
+y_filt_cheby_10 = filter(b_cheby_theta_10,a_cheby_theta_10,Theta_data_4);
+
+%plot the filtered signal
+figure;
+% butterworth design technique
+subplot(311);
+plot(t_P_sec_data_4,Theta_data_4);
+hold on;
+plot(t_P_sec_data_4,theta_filt_butter_5,'r');
+hold on;
+plot(t_P_sec_data_4,theta_filt_butter_10,'g');
+grid on;
+title('Butterworth Filter Design Technique')
+legend('Original signal','5th Order','9th Order');
+
+% elliptic design technique
+subplot(312);
+plot(t_P_sec_data_4,Theta_data_4);
+hold on;
+plot(t_P_sec_data_4,theta_filt_ellip_5,'r');
+hold on;
+plot(t_P_sec_data_4,theta_filt_ellip_10,'g');
+hold off;
+grid on;
+title('Elliptic Filter Design Technique')
+ylabel('\theta_{cam} [m]')
+
+
+% Chebyshev design technique
+subplot(313);
+plot(t_P_sec_data_4,Theta_data_4);
+hold on;
+plot(t_P_sec_data_4,y_filt_cheby_5,'r');
+hold on;
+plot(t_P_sec_data_4,y_filt_cheby_10,'g');
+hold off;
+grid on;
+title('Chebyshev Filter Design Technique')
+xlabel('Time [sec]');
+
+%% Filter Design for Y_dot axis
+
+Y_dot_mags = abs(fft(Vel_Y_data_4));
+num_bins_Y_dot = length(Y_dot_mags);
+norm_freq_axis_Y_dot = 0:1/(num_bins_Y_dot -1):1;
+% 
+% figure;
+% plot(Y_dot_mags);
+% xlabel('FFT Bins');
+% ylabel('Magnitude');
+
+% butterworth design technique
+[b_butter_y_dot5,a_butter_y_dot5] = butter(5, 0.1, 'low');
+[b_butter_y_dot10,a_butter_y_dot10] = butter(9, 0.1, 'low');
+
+% elliptic design technique
+[b_ellip_y_dot5,a_ellip_y_dot5] = ellip(5, .6, 40, 0.1, 'low');
+[b_ellip_y_dot10,a_ellip_y_dot10] = ellip(9, .6, 40, 0.1, 'low');
+
+% chebyshev design technique
+[b_cheby_y_dot5,a_cheby_y_dot5] = cheby1(5,.6, 0.1, 'low');
+[b_cheby_y_dot10,a_cheby_y_dot10] = cheby1(9,.6, 0.1, 'low');
+
+% Freq response calc.
+% butterworth design technique
+H_butter_y_dot5 = freqz(b_butter_y_dot5,a_butter_y_dot5, floor(num_bins_Y_dot));
+H_butter_y_dot10 = freqz(b_butter_y_dot10,a_butter_y_dot10, floor(num_bins_Y_dot));
+
+% elliptic design technique
+H_ellip_y_dot5 = freqz(b_ellip_y_dot5,a_ellip_y_dot5, floor(num_bins_Y_dot));
+H_ellip_y_dot10 = freqz(b_ellip_y_dot10,a_ellip_y_dot10, floor(num_bins_Y_dot));
+
+% chebyshev design technique
+H_cheby_y_dot5 = freqz(b_cheby_y_dot5,a_cheby_y_dot5, floor(num_bins_Y_dot));
+H_cheby_y_dot10 = freqz(b_cheby_y_dot10,a_cheby_y_dot10, floor(num_bins_Y_dot));
+
+% 
+% %plot the frequency response (normalised frequency)
+% figure;
+% plot(norm_freq_axis_Y_dot, Y_dot_mags(1:num_bins_Y_dot));
+% hold on;
+% plot(norm_freq_axis_Y_dot, abs(H_butter_y_dot5),'r');
+% hold on;
+% plot(norm_freq_axis_Y_dot, abs(H_butter_y_dot10),'g');
+% hold off;
+% 
+% xlabel('Normalised frequency (\pi rads/sample)')
+% ylabel('Magnitude')
+% legend('FFT','butterworth 5th order','butterworth 10th order');
+% 
+% figure;
+% plot(norm_freq_axis_Y_dot, Y_dot_mags(1:num_bins_Y_dot));
+% hold on;
+% plot(norm_freq_axis_Y_dot, abs(H_ellip_y_dot5),'r');
+% hold on;
+% plot(norm_freq_axis_Y_dot, abs(H_ellip_y_dot10),'g');
+% hold off;
+% 
+% xlabel('Normalised frequency (\pi rads/sample)')
+% ylabel('Magnitude')
+% legend('FFT','elliptic 5th order','elliptic 10th order');
+% 
+% 
+% % Plot dB for freq 20log10(?) = -Hz => ? = 10^(-Hz*20)
+% % butterworth design technique
+% figure;
+% plot(norm_freq_axis_Y_dot, 20*log10(abs(H_butter_y_dot5))); %dB
+% hold on;
+% plot(norm_freq_axis_Y_dot, 20*log10(abs(H_butter_y_dot10)),'r'); %dB
+% hold off;
+% legend('buuerworth 5th','butterworth 10th');
+% xlabel('Normalised Frequency ');
+% ylabel('Magnitude (dB)');
+% 
+% % elliptic design technique
+% figure;
+% plot(norm_freq_axis_Y_dot, 20*log10(abs(H_ellip_y_dot5))); %dB
+% hold on;
+% plot(norm_freq_axis_Y_dot, 20*log10(abs(H_ellip_y_dot10)),'r'); %dB
+% hold off;
+% legend('elliptic 5th','elliptic 10th');
+% xlabel('Normalised Frequency ');
+% ylabel('Magnitude (dB)');
+
+%Filter the noisy sig
+%butterworth design technique
+y_dot_filt_butter_5 = filter(b_butter_y_dot5,a_butter_y_dot5,Vel_Y_data_4);
+%filter the noisy signal and plot the result
+y_dot_filt_butter_10 = filter(b_butter_y_dot10,a_butter_y_dot10,Vel_Y_data_4);
+
+%elliptic design technique
+y_dot_filt_ellip_5 = filter(b_ellip_y_dot5,a_ellip_y_dot5,Vel_Y_data_4);
+%filter the noisy signal and plot the result
+y_dot_filt_ellip_10 = filter(b_ellip_y_dot10,a_ellip_y_dot10,Vel_Y_data_4);
+
+%chebyshev design technique
+y_dot_filt_cheby_5 = filter(b_cheby_y_dot5,a_cheby_y_dot5,Vel_Y_data_4);
+%filter the noisy signal and plot the result
+y_dot_filt_cheby_10 = filter(b_cheby_y_dot10,a_cheby_y_dot10,Vel_Y_data_4);
+
+%plot the filtered signal
+figure;
+% butterworth design technique
+subplot(311);
+plot(t_V_sec_data_4,Vel_Y_data_4);
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_butter_5,'r');
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_butter_10,'g');
+grid on;
+title('Butterworth Filter Design Technique')
+legend('Original signal','5th Order','9th Order');
+
+% elliptic design technique
+subplot(312);
+plot(t_V_sec_data_4,Vel_Y_data_4);
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_ellip_5,'r');
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_ellip_10,'g');
+hold off;
+grid on;
+title('Elliptic Filter Design Technique')
+ylabel('y_{dot} [m/s]')
+
+% Chebyshev design technique
+subplot(313);
+plot(t_V_sec_data_4,Vel_Y_data_4);
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_cheby_5,'r');
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_cheby_10,'g');
+hold off;
+grid on;
+title('Chebyshev Filter Design Technique')
+xlabel('Time [sec]');
+
+
+%% Filter Design for theta_dot axis
+
+theta_dot_mags = abs(fft(Omega_Z_data_4));
+num_bins_theta_dot = length(theta_dot_mags);
+norm_freq_axis_theta_dot = 0:1/(num_bins_theta_dot -1):1;
+N = length(Omega_Z_data_4);
+% 
+% figure;
+% plot(theta_dot_mags);
+% xlabel('FFT Bins');
+% ylabel('Magnitude');
+
+% butterworth design technique
+[b_butter_theta_dot5,a_butter_theta_dot5] = butter(5, 0.06, 'low');
+[b_butter_theta_dot10,a_butter_theta_dot10] = butter(9, 0.06, 'low');
+
+% elliptic design technique
+[b_ellip_theta_dot5,a_ellip_theta_dot5] = ellip(5, .6, 60, 0.06, 'low');
+[b_ellip_theta_dot10,a_ellip_theta_dot10] = ellip(9, .6, 60, 0.06, 'low');
+
+% chebyshev design technique
+[b_cheby_theta_dot5,a_cheby_theta_dot5] = cheby1(5,.6, 0.06, 'low');
+[b_cheby_theta_dot10,a_cheby_theta_dot10] = cheby1(9,.6, 0.06, 'low');
+
+% Freq response calc.
+% butterworth design technique
+H_butter_theta_dot5 = freqz(b_butter_theta_dot5,a_butter_theta_dot5, floor(num_bins_theta_dot));
+H_butter_theta_dot10 = freqz(b_butter_theta_dot10,a_butter_theta_dot10, floor(num_bins_theta_dot));
+
+% elliptic design technique
+H_ellip_theta_dot5 = freqz(b_ellip_theta_dot5,a_ellip_theta_dot5, floor(num_bins_theta_dot));
+H_ellip_theta_dot10 = freqz(b_ellip_theta_dot10,a_ellip_theta_dot10, floor(num_bins_theta_dot));
+
+% chebyshev design technique
+H_cheby_theta_dot5 = freqz(b_cheby_theta_dot5,a_cheby_theta_dot5, floor(num_bins_theta_dot));
+H_cheby_theta_dot10 = freqz(b_cheby_theta_dot10,a_cheby_theta_dot10, floor(num_bins_theta_dot));
+% 
+% 
+% %plot the frequency response (normalised frequency)
+% figure;
+% plot(norm_freq_axis_theta_dot, theta_dot_mags(1:num_bins_theta_dot));
+% hold on;
+% plot(norm_freq_axis_theta_dot, abs(H_butter_theta_dot5),'r');
+% hold on;
+% plot(norm_freq_axis_theta_dot, abs(H_butter_theta_dot10),'g');
+% hold off;
+% 
+% xlabel('Normalised frequency (\pi rads/sample)')
+% ylabel('Magnitude')
+% legend('FFT','butterworth 5th order','butterworth 10th order');
+% 
+% figure;
+% plot(norm_freq_axis_theta_dot, theta_dot_mags(1:num_bins_theta_dot));
+% hold on;
+% plot(norm_freq_axis_theta_dot, abs(H_ellip_theta_dot5),'r');
+% hold on;
+% plot(norm_freq_axis_theta_dot, abs(H_ellip_theta_dot10),'g');
+% hold off;
+% 
+% xlabel('Normalised frequency (\pi rads/sample)')
+% ylabel('Magnitude')
+% legend('FFT','elliptic 5th order','elliptic 10th order');
+% 
+% 
+% % Plot dB for freq 20log10(?) = -Hz => ? = 10^(-Hz*20)
+% % butterworth design technique
+% figure;
+% plot(norm_freq_axis_theta_dot, 20*log10(abs(H_butter_theta_dot5))); %dB
+% hold on;
+% plot(norm_freq_axis_theta_dot, 20*log10(abs(H_butter_theta_dot10)),'r'); %dB
+% hold off;
+% legend('butterworth 5th','butterworth 10th');
+% xlabel('Normalised Frequency ');
+% ylabel('Magnitude (dB)');
+% 
+% % elliptic design technique
+% figure;
+% plot(norm_freq_axis_theta_dot, 20*log10(abs(H_ellip_theta_dot5))); %dB
+% hold on;
+% plot(norm_freq_axis_theta_dot, 20*log10(abs(H_ellip_theta_dot10)),'r'); %dB
+% hold off;
+% legend('elliptic 5th','elliptic 10th');
+% xlabel('Normalised Frequency ');
+% ylabel('Magnitude (dB)');
+
+%Filter the noisy sig
+%butterworth design technique
+theta_dot_filt_butter_5 = filter(b_butter_theta_dot5,a_butter_theta_dot5,Omega_Z_data_4);
+%filter the noisy signal and plot the result
+theta_dot_filt_butter_10 = filter(b_butter_theta_dot10,a_butter_theta_dot10,Omega_Z_data_4);
+
+%elliptic design technique
+theta_dot_filt_ellip_5 = filter(b_ellip_theta_dot5,a_ellip_theta_dot5,Omega_Z_data_4);
+%filter the noisy signal and plot the result
+theta_dot_filt_ellip_10 = filter(b_ellip_theta_dot10,a_ellip_theta_dot10,Omega_Z_data_4);
+
+%chebyshev design technique
+y_dot_filt_cheby_5 = filter(b_cheby_theta_dot5,a_cheby_theta_dot5,Omega_Z_data_4);
+%filter the noisy signal and plot the result
+y_dot_filt_cheby_10 = filter(b_cheby_theta_dot10,a_cheby_theta_dot10,Omega_Z_data_4);
+
+%plot the filtered signal
+figure;
+% butterworth design technique
+subplot(311);
+plot(t_V_sec_data_4,Omega_Z_data_4);
+hold on;
+plot(t_V_sec_data_4,theta_dot_filt_butter_5,'r');
+hold on;
+plot(t_V_sec_data_4,theta_dot_filt_butter_10,'g');
+grid on;
+title('Butterworth Filter Design Technique')
+legend('Original signal','5th Order','9th Order');
+
+% elliptic design technique
+subplot(312);
+plot(t_V_sec_data_4,Omega_Z_data_4);
+hold on;
+plot(t_V_sec_data_4,theta_dot_filt_ellip_5,'r');
+hold on;
+plot(t_V_sec_data_4,theta_dot_filt_ellip_10,'g');
+hold off;
+grid on;
+title('Elliptic Filter Design Technique')
+ylabel('\theta_{dot} [m]')
+
+% Chebyshev design technique
+subplot(313);
+plot(t_V_sec_data_4,Omega_Z_data_4);
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_cheby_5,'r');
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_cheby_10,'g');
+hold off;
+grid on;
+title('Chebyshev Filter Design Technique')
+xlabel('Time [sec]');
+
diff --git a/Files_4_thesis/x_tANDy_t/Trans_PID_.266_.0003_.014.txt b/Files_4_thesis/x_tANDy_t/Trans_PID_.266_.0003_.014.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ddb531c404044a8a39c8f4617e7dd7e0099f4018
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/Trans_PID_.266_.0003_.014.txt
@@ -0,0 +1,314 @@
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diff --git a/Files_4_thesis/x_tANDy_t/Trans_PID_.28_0_.006.txt b/Files_4_thesis/x_tANDy_t/Trans_PID_.28_0_.006.txt
index db0658eafc40f04d5602fb0d0a15c5ae22f81367..fcb3200331c9984255ad65c8ee3f4c4c97d9799d 100644
--- a/Files_4_thesis/x_tANDy_t/Trans_PID_.28_0_.006.txt
+++ b/Files_4_thesis/x_tANDy_t/Trans_PID_.28_0_.006.txt
@@ -1,308 +1,344 @@
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diff --git a/Files_4_thesis/x_tANDy_t/Trans_PID_.29_.00026_.015.txt b/Files_4_thesis/x_tANDy_t/Trans_PID_.29_.00026_.015.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a7cc64743fdf7e96d470607d60aab8dd9dcbcbd5
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/Trans_PID_.29_.00026_.015.txt
@@ -0,0 +1,339 @@
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diff --git a/Files_4_thesis/x_tANDy_t/Trans_PID_.3_.0004_.02.txt b/Files_4_thesis/x_tANDy_t/Trans_PID_.3_.0004_.02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ba1745f2527145bf621b66d5cd64d02a8aa56e2
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/Trans_PID_.3_.0004_.02.txt
@@ -0,0 +1,707 @@
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diff --git a/Files_4_thesis/x_tANDy_t/vel_PID_.266_.0003_.014.txt b/Files_4_thesis/x_tANDy_t/vel_PID_.266_.0003_.014.txt
new file mode 100644
index 0000000000000000000000000000000000000000..266984f734fd3f7d7cb8f5ef105f9fb744176b1d
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/vel_PID_.266_.0003_.014.txt
@@ -0,0 +1,313 @@
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diff --git a/Files_4_thesis/x_tANDy_t/vel_PID_.28_0_.006.txt b/Files_4_thesis/x_tANDy_t/vel_PID_.28_0_.006.txt
index 82f7cdc0037d8ed300332b916ba9f53d71056274..6dd8e04ddf9343965e4956bfb53c82f4505416f2 100644
--- a/Files_4_thesis/x_tANDy_t/vel_PID_.28_0_.006.txt
+++ b/Files_4_thesis/x_tANDy_t/vel_PID_.28_0_.006.txt
@@ -1,307 +1,343 @@
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diff --git a/Files_4_thesis/x_tANDy_t/vel_PID_.29_.00026_.015.txt b/Files_4_thesis/x_tANDy_t/vel_PID_.29_.00026_.015.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d421d576b2aa7498a8cea001e83d51f0fad24623
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/vel_PID_.29_.00026_.015.txt
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diff --git a/Files_4_thesis/x_tANDy_t/vel_PID_.3_.0004_.02.txt b/Files_4_thesis/x_tANDy_t/vel_PID_.3_.0004_.02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2a2f9672d8431d0da95a47e1b4db61a15560bdec
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/vel_PID_.3_.0004_.02.txt
@@ -0,0 +1,706 @@
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diff --git a/Files_4_thesis/x_tANDy_t/y_tANDx_t.m b/Files_4_thesis/x_tANDy_t/y_tANDx_t.m
index bbc9d1662387c2e7d520944038945e1cb8150829..80ce6b79207a8081919a1077425df187da96932f 100644
--- a/Files_4_thesis/x_tANDy_t/y_tANDx_t.m
+++ b/Files_4_thesis/x_tANDy_t/y_tANDx_t.m
@@ -2,25 +2,86 @@ clc;
 close all;
 clear all;
 
+%% Import Data 
+
+% data 1: 
+Pose_Matrix_data_1 = csvread('CAM_PID_.266_.0003_.014.txt',1,0);
+Vel_Matrix_data_1 = csvread('vel_PID_.266_.0003_.014.txt',1,0);
+Trans_Matrix_data_1 = csvread('Trans_PID_.266_.0003_.014.txt',1,0);
+
+% time in position
+TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationP_data_1 = (TimeP_ros_data_1(size(TimeP_ros_data_1,1),:) - TimeP_ros_data_1(1,:))*10^(-9); 
+  
+t_P_sec_data_1 = 0:durationP_data_1/size(TimeP_ros_data_1,1):durationP_data_1;
+t_P_sec_data_1(:,size(t_P_sec_data_1,2)) = [];
+
+% time in vel
+TimeV_ros_data_1 = Vel_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationV_data_1 = (TimeV_ros_data_1(size(TimeV_ros_data_1,1),:) - TimeV_ros_data_1(1,:))*10^(-9);
+
+t_V_sec_data_1 = 0:durationV_data_1/size(TimeV_ros_data_1,1):durationV_data_1;
+t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];
+
 % -----------------------------------------------------------------------------------------------------
-% data 4: 450 ros messages for geometry_msgs/Twist 
-%         451 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% P = .86; I = 0; D = 0.002;
-
-% 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_.39_.0005_.01.txt',1,0);
-% Vel_Matrix_data_4 = csvread('vel_PID_.39_.0005_.01.txt',1,0);
-% 
-Pose_Matrix_data_4 = csvread('CAM_PID_.266_.0003_.014_R.txt',1,0);
-Vel_Matrix_data_4 = csvread('vel_PID_.266_.0003_.014_R.txt',1,0);
-Trans_Matrix_data_4 = csvread('Trans_PID_.266_.0003_.014_R.txt',1,0);
+% data 2: 
+
+Pose_Matrix_data_2 = csvread('CAM_PID_.28_0_.006.txt',1,0);
+Vel_Matrix_data_2 = csvread('vel_PID_.28_0_.006.txt',1,0);
+Trans_Matrix_data_2 = csvread('Trans_PID_.28_0_.006.txt',1,0);
+
+% time in position
+TimeP_ros_data_2 = Pose_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationP_data_2 = (TimeP_ros_data_2(size(TimeP_ros_data_2,1),:) - TimeP_ros_data_2(1,:))*10^(-9); 
+  
+t_P_sec_data_2 = 0:durationP_data_2/size(TimeP_ros_data_2,1):durationP_data_2;
+t_P_sec_data_2(:,size(t_P_sec_data_2,2)) = [];
+
+% time in vel
+TimeV_ros_data_2 = Vel_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
 
+% duriation =         end_time        -     start_time
+  durationV_data_2 = (TimeV_ros_data_2(size(TimeV_ros_data_2,1),:) - TimeV_ros_data_2(1,:))*10^(-9);
+
+t_V_sec_data_2 = 0:durationV_data_2/size(TimeV_ros_data_2,1):durationV_data_2;
+t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
+
+% -----------------------------------------------------------------------------------------------------
+% data 3: 
+
+Pose_Matrix_data_3 = csvread('CAM_PID_.29_.00026_.015.txt',1,0);
+Vel_Matrix_data_3 = csvread('vel_PID_.29_.00026_.015.txt',1,0);
+Trans_Matrix_data_3 = csvread('Trans_PID_.29_.00026_.015.txt',1,0);
+
+% time in position
+TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationP_data_3 = (TimeP_ros_data_3(size(TimeP_ros_data_3,1),:) - TimeP_ros_data_3(1,:))*10^(-9); 
+  
+t_P_sec_data_3 = 0:durationP_data_3/size(TimeP_ros_data_3,1):durationP_data_3;
+t_P_sec_data_3(:,size(t_P_sec_data_3,2)) = [];
+
+% time in vel
+TimeV_ros_data_3 = Vel_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationV_data_3 = (TimeV_ros_data_3(size(TimeV_ros_data_3,1),:) - TimeV_ros_data_3(1,:))*10^(-9);
+
+t_V_sec_data_3 = 0:durationV_data_3/size(TimeV_ros_data_3,1):durationV_data_3;
+t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];
+
+% -----------------------------------------------------------------------------------------------------
+% data 4: 
+Pose_Matrix_data_4 = csvread('CAM_PID_.3_.0004_.02.txt',1,0);
+Vel_Matrix_data_4 = csvread('vel_PID_.3_.0004_.02.txt',1,0);
+Trans_Matrix_data_4 = csvread('Trans_PID_.3_.0004_.02.txt',1,0);
 
 % time in position
 TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
@@ -51,643 +112,231 @@ t_V_sec_data_4(:,size(t_V_sec_data_4,2)) = [];
 
 %% Pose estimation
 
-%data 4:
+%data 1:
+x_t_1 = Trans_Matrix_data_1(:,4); % x_t
+y_t_1 = Trans_Matrix_data_1(:,3); % y_t
+theta_t_1 = Trans_Matrix_data_1(:,7); % yaw
+
+Pose_X_data_1 = Pose_Matrix_data_1(:,4);
+Pose_Y_data_1 = Pose_Matrix_data_1(:,3);
+Theta_data_1 = Pose_Matrix_data_1(:,7);
+
+%data 2:
+x_t_2 = Trans_Matrix_data_2(:,4); % x_t
+y_t_2 = Trans_Matrix_data_2(:,3); % y_t
+theta_t_2 = Trans_Matrix_data_2(:,7); % yaw
+
+Pose_X_data_2 = Pose_Matrix_data_2(:,4);
+Pose_Y_data_2 = Pose_Matrix_data_2(:,3);
+Theta_data_2 = Pose_Matrix_data_2(:,7);
 
+%data 3:
+x_t_3 = Trans_Matrix_data_3(:,4); % x_t
+y_t_3 = Trans_Matrix_data_3(:,3); % y_t
+theta_t_3 = Trans_Matrix_data_3(:,7); % yaw
+
+Pose_X_data_3 = Pose_Matrix_data_3(:,4);
+Pose_Y_data_3 = Pose_Matrix_data_3(:,3);
+Theta_data_3 = Pose_Matrix_data_3(:,7);
+
+
+%data 4:
 x_t_4 = Trans_Matrix_data_4(:,4); % x_t
 y_t_4 = Trans_Matrix_data_4(:,3); % y_t
-% theta_t_4 = -abs(Trans_Matrix_data_4(:,7)); % yaw
 theta_t_4 = Trans_Matrix_data_4(:,7); % yaw
 
 Pose_X_data_4 = Pose_Matrix_data_4(:,4);
-% Pose_Y_data_4 = abs(Pose_Matrix_data_4(:,3));
-% Theta_data_4 = -abs(Pose_Matrix_data_4(:,7));
-
 Pose_Y_data_4 = Pose_Matrix_data_4(:,3);
-Pose_Y_data_4 = Pose_Y_data_4 /(.05*length(Pose_Y_data_4));
-
 Theta_data_4 = Pose_Matrix_data_4(:,7);
-Theta_data_4 = Theta_data_4 /(.091*length(Theta_data_4));
 
-% Extracting reference values when the robot is manually docked!
-ref_X_data_4 = Pose_X_data_4(size(Pose_X_data_4,1));
-ref_Y_data_4 = Pose_Y_data_4(size(Pose_Y_data_4,1));
-ref_Theta_data_4 = Theta_data_4(size(Theta_data_4,1));
-ref_Pose_data_4 =[ref_X_data_4;ref_Y_data_4];
 
 % Reference Circle 
-thresh_X = .001;
+thresh_X = .0013;
 theta = 0:.001:2*pi;
+
 % needs to be adjusted manually if docking platform is replaced!
-ref_x = .20095;
-ref_y = .0081;
+ref_x = -.2025;
+ref_y = -.0185;
+
 x_circle = thresh_X*cos(theta) + ref_x; % ref_X needs to be recorded
 y_circle = thresh_X*sin(theta) + ref_y; % ref_Y needs to be recorded
 
 %% Velocity estimation
 
-% data 4:
-Vel_X_data_4 = Vel_Matrix_data_4(:,2);
+% data 1:
+Vel_X_data_1 = Vel_Matrix_data_1(:,2);
+Vel_Y_data_1 = Vel_Matrix_data_1(:,3);
+Omega_Z_data_1 = Vel_Matrix_data_1(:,7);
 
-Vel_Y_data_4 = Vel_Matrix_data_4(:,3);
-Vel_Y_data_4 = Vel_Y_data_4 /(.091*length(Vel_Y_data_4));
 
-Omega_Z_data_4 = Vel_Matrix_data_4(:,7);
-Omega_Z_data_4 = Omega_Z_data_4 /(.009*length(Omega_Z_data_4));
-
-
-
-%% Filter Design for Y axis
-
-Y_mags = abs(fft(Pose_Y_data_4));
-num_bins_Y = length(Y_mags);
-norm_freq_axis_Y = 0:1/(num_bins_Y -1):1;
-% 
-% figure;
-% plot(Y_mags);
-% xlabel('FFT Bins');
-% ylabel('Magnitude');
-
-% butterworth design technique
-[b_butter_y_5,a_butter_y_5] = butter(5, 0.1, 'low');
-[b_butter_y_10,a_butter_y_10] = butter(9, 0.1, 'low');
+% data 2:
+Vel_X_data_2 = Vel_Matrix_data_2(:,2);
+Vel_Y_data_2 = Vel_Matrix_data_2(:,3);
+Omega_Z_data_2 = Vel_Matrix_data_2(:,7);
 
-% elliptic design technique
-[b_ellip_y_5,a_ellip_y_5] = ellip(5, .6, 40, 0.1, 'low');
-[b_ellip_y_10,a_ellip_y_10] = ellip(9, .6, 40, 0.1, 'low');
 
-% chebyshev design technique
-[b_cheby_y_5,a_cheby_y_5] = cheby1(5,.6, 0.1, 'low');
-[b_cheby_y_10,a_cheby_y_10] = cheby1(9,.6, 0.1, 'low');
+% data 3:
+Vel_X_data_3 = Vel_Matrix_data_3(:,2);
+Vel_Y_data_3 = Vel_Matrix_data_3(:,3);
+Omega_Z_data_3 = Vel_Matrix_data_3(:,7);
 
-% Freq response calc.
-% butterworth design technique
-H_butter_y_5 = freqz(b_butter_y_5,a_butter_y_5, floor(num_bins_Y));
-H_butter_y_10 = freqz(b_butter_y_10,a_butter_y_10, floor(num_bins_Y));
-
-% elliptic design technique
-H_ellip_y_5 = freqz(b_ellip_y_5,a_ellip_y_5, floor(num_bins_Y));
-H_ellip_y_10 = freqz(b_ellip_y_10,a_ellip_y_10, floor(num_bins_Y));
+% data 4:
+Vel_X_data_4 = Vel_Matrix_data_4(:,2);
+Vel_Y_data_4 = Vel_Matrix_data_4(:,3);
+Omega_Z_data_4 = Vel_Matrix_data_4(:,7);
+%% Plot
 
-% chebyshev design technique
-H_cheby_y_5 = freqz(b_cheby_y_5,a_cheby_y_5, floor(num_bins_Y));
-H_cheby_y_10 = freqz(b_cheby_y_10,a_cheby_y_10, floor(num_bins_Y));
+% Camera Pose Estimation
 
-% 
-% %plot the frequency response (normalised frequency)
-% figure;
-% plot(norm_freq_axis_Y, Y_mags(1:num_bins_Y));
-% hold on;
-% plot(norm_freq_axis_Y, abs(H_butter_y_5),'r');
-% hold on;
-% plot(norm_freq_axis_Y, abs(H_butter_y_10),'g');
-% hold off;
-% 
-% xlabel('Normalised frequency (\pi rads/sample)')
-% ylabel('Magnitude')
-% legend('FFT','butterworth 5th order','butterworth 10th order');
-% % 
-% figure;
-% plot(norm_freq_axis_Y, Y_mags(1:num_bins_Y));
-% hold on;
-% plot(norm_freq_axis_Y, abs(H_ellip_y_5),'r');
-% hold on;
-% plot(norm_freq_axis_Y, abs(H_ellip_y_10),'g');
-% hold off;
-% 
-% xlabel('Normalised frequency (\pi rads/sample)')
-% ylabel('Magnitude')
-% legend('FFT','elliptic 5th order','elliptic 10th order');
-% 
-% 
-% % Plot dB for freq 20log10(?) = -Hz => ? = 10^(-Hz*20)
-% % butterworth design technique
-% figure;
-% plot(norm_freq_axis_Y, 20*log10(abs(H_butter_y_5))); %dB
-% hold on;
-% plot(norm_freq_axis_Y, 20*log10(abs(H_butter_y_10)),'r'); %dB
-% hold off;
-% legend('buuerworth 5th','butterworth 10th');
-% xlabel('Normalised Frequency ');
-% ylabel('Magnitude (dB)');
-% 
-% % elliptic design technique
-% figure;
-% plot(norm_freq_axis_Y, 20*log10(abs(H_ellip_y_5))); %dB
-% hold on;
-% plot(norm_freq_axis_Y, 20*log10(abs(H_ellip_y_10)),'r'); %dB
-% hold off;
-% legend('elliptic 5th','elliptic 10th');
-% xlabel('Normalised Frequency ');
-% ylabel('Magnitude (dB)');
-
-%Filter the noisy sig
-%butterworth design technique
-y_filt_butter_5 = filter(b_butter_y_5,a_butter_y_5,Pose_Y_data_4);
-%filter the noisy signal and plot the result
-y_filt_butter_10 = filter(b_butter_y_10,a_butter_y_10,Pose_Y_data_4);
-
-
-%elliptic design technique
-y_filt_ellip_5 = filter(b_ellip_y_5,a_ellip_y_5,Pose_Y_data_4);
-%filter the noisy signal and plot the result
-y_filt_ellip_10 = filter(b_ellip_y_10,a_ellip_y_10,Pose_Y_data_4);
-
-%chebyshev design technique
-y_filt_cheby_5 = filter(b_cheby_y_5,a_cheby_y_5,Pose_Y_data_4);
-%filter the noisy signal and plot the result
-y_filt_cheby_10 = filter(b_cheby_y_10,a_cheby_y_10,Pose_Y_data_4);
-
-%plot the filtered signal
 figure;
-% butterworth design technique
+set(gcf,'color','white');
 subplot(311);
-plot(t_P_sec_data_4,Pose_Y_data_4);
-hold on;
-plot(t_P_sec_data_4,y_filt_butter_5,'r');
-hold on;
-plot(t_P_sec_data_4,y_filt_butter_10,'g');
-grid on;
-title('Butterworth Filter Design Technique')
-legend('Original signal','5th Order','9th Order');
-
-% elliptic design technique
-subplot(312);
-plot(t_P_sec_data_4,Pose_Y_data_4);
-hold on;
-plot(t_P_sec_data_4,y_filt_ellip_5,'r');
-hold on;
-plot(t_P_sec_data_4,y_filt_ellip_10,'g');
-hold off;
-grid on;
-title('Elliptic Filter Design Technique')
-ylabel('y_{cam} [m]')
-
-
-% Chebyshev design technique
-subplot(313);
-plot(t_P_sec_data_4,Pose_Y_data_4);
-hold on;
-plot(t_P_sec_data_4,y_filt_cheby_5,'r');
-hold on;
-plot(t_P_sec_data_4,y_filt_cheby_10,'g');
-hold off;
-grid on;
-title('Chebyshev Filter Design Technique')
-xlabel('Time [sec]');
-
-%% Filter Design for theta axis
-
-theta_mags = abs(fft(Theta_data_4));
-num_bins_theta = length(theta_mags);
-norm_freq_axis_theta = 0:1/(num_bins_theta -1):1;
-% 
-% figure;
-% plot(theta_mags);
-% xlabel('FFT Bins');
-% ylabel('Magnitude');
-
-% butterworth design technique
-[b_butter_theta_5,a_butter_theta_5] = butter(3, 0.08, 'low');
-[b_butter_theta_10,a_butter_theta_10] = butter(9, 0.08, 'low');
-
-% elliptic design technique
-[b_ellip_theta_5,a_ellip_theta_5] = ellip(3, .6, 40, 0.08, 'low');
-[b_ellip_theta_10,a_ellip_theta_10] = ellip(9, .6, 40, 0.08, 'low');
+plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',2.1);
+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',1.8);
+hold on
+plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.3);
+title('Pose estimation in marker coordinate system');
+ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
+
+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',11);
+legend('boxoff');
 
-% chebyshev design technique
-[b_cheby_theta_5,a_cheby_theta_5] = cheby1(3,.6, 0.08, 'low');
-[b_cheby_theta_10,a_cheby_theta_10] = cheby1(9,.6, 0.08, 'low');
-
-% Freq response calc.
-% butterworth design technique
-H_butter_theta_5 = freqz(b_butter_theta_5,a_butter_theta_5, floor(num_bins_theta));
-H_butter_theta_10 = freqz(b_butter_theta_10,a_butter_theta_10, floor(num_bins_theta));
-
-% elliptic design technique
-H_ellip_theta_5 = freqz(b_ellip_theta_5,a_ellip_theta_5, floor(num_bins_theta));
-H_ellip_theta_10 = freqz(b_ellip_theta_10,a_ellip_theta_10, floor(num_bins_theta));
-
-% chebyshev design technique
-H_cheby_theta_5 = freqz(b_cheby_theta_5,a_cheby_theta_5, floor(num_bins_theta));
-H_cheby_theta_10 = freqz(b_cheby_theta_10,a_cheby_theta_10, floor(num_bins_theta));
-
-% 
-% %plot the frequency response (normalised frequency)
-% figure;
-% plot(norm_freq_axis_theta, theta_mags(1:num_bins_theta));
-% hold on;
-% plot(norm_freq_axis_theta, abs(H_butter_theta_5),'r');
-% hold on;
-% plot(norm_freq_axis_theta, abs(H_butter_theta_10),'g');
-% hold off;
-% 
-% xlabel('Normalised frequency (\pi rads/sample)')
-% ylabel('Magnitude')
-% legend('FFT','butterworth 5th order','butterworth 10th order');
-% 
-% figure;
-% plot(norm_freq_axis_theta, theta_mags(1:num_bins_theta));
-% hold on;
-% plot(norm_freq_axis_theta, abs(H_ellip_theta_5),'r');
-% hold on;
-% plot(norm_freq_axis_theta, abs(H_ellip_theta_10),'g');
-% hold off;
-% 
-% xlabel('Normalised frequency (\pi rads/sample)')
-% ylabel('Magnitude')
-% legend('FFT','elliptic 5th order','elliptic 10th order');
-% 
-% 
-% % Plot dB for freq 20log10(?) = -Hz => ? = 10^(-Hz*20)
-% % butterworth design technique
-% figure;
-% plot(norm_freq_axis_theta, 20*log10(abs(H_butter_theta_5))); %dB
-% hold on;
-% plot(norm_freq_axis_theta, 20*log10(abs(H_butter_theta_10)),'r'); %dB
-% hold off;
-% legend('buuerworth 5th','butterworth 10th');
-% xlabel('Normalised Frequency ');
-% ylabel('Magnitude (dB)');
-% 
-% % elliptic design technique
-% figure;
-% plot(norm_freq_axis_theta, 20*log10(abs(H_ellip_theta_5))); %dB
-% hold on;
-% plot(norm_freq_axis_theta, 20*log10(abs(H_ellip_theta_10)),'r'); %dB
-% hold off;
-% legend('elliptic 5th','elliptic 10th');
-% xlabel('Normalised Frequency ');
-% ylabel('Magnitude (dB)');
-% 
-
-%Filter the noisy sig
-%butterworth design technique
-theta_filt_butter_5 = filter(b_butter_theta_5,a_butter_theta_5,Theta_data_4);
-%filter the noisy signal and plot the result
-theta_filt_butter_10 = filter(b_butter_theta_10,a_butter_theta_10,Theta_data_4);
-
-
-%elliptic design technique
-theta_filt_ellip_5 = filter(b_ellip_theta_5,a_ellip_theta_5,Theta_data_4);
-%filter the noisy signal and plot the result
-theta_filt_ellip_10 = filter(b_ellip_theta_10,a_ellip_theta_10,Theta_data_4);
-
-%chebyshev design technique
-y_filt_cheby_5 = filter(b_cheby_theta_5,a_cheby_theta_5,Theta_data_4);
-%filter the noisy signal and plot the result
-y_filt_cheby_10 = filter(b_cheby_theta_10,a_cheby_theta_10,Theta_data_4);
-
-%plot the filtered signal
-figure;
-% butterworth design technique
-subplot(311);
-plot(t_P_sec_data_4,Theta_data_4);
-hold on;
-plot(t_P_sec_data_4,theta_filt_butter_5,'r');
-hold on;
-plot(t_P_sec_data_4,theta_filt_butter_10,'g');
-grid on;
-title('Butterworth Filter Design Technique')
-legend('Original signal','5th Order','9th Order');
-
-% elliptic design technique
 subplot(312);
-plot(t_P_sec_data_4,Theta_data_4);
-hold on;
-plot(t_P_sec_data_4,theta_filt_ellip_5,'r');
-hold on;
-plot(t_P_sec_data_4,theta_filt_ellip_10,'g');
-hold off;
-grid on;
-title('Elliptic Filter Design Technique')
-ylabel('\theta_{cam} [m]')
-
-
-% Chebyshev design technique
-subplot(313);
-plot(t_P_sec_data_4,Theta_data_4);
-hold on;
-plot(t_P_sec_data_4,y_filt_cheby_5,'r');
-hold on;
-plot(t_P_sec_data_4,y_filt_cheby_10,'g');
-hold off;
-grid on;
-title('Chebyshev Filter Design Technique')
-xlabel('Time [sec]');
-
-%% Filter Design for Y_dot axis
-
-Y_dot_mags = abs(fft(Vel_Y_data_4));
-num_bins_Y_dot = length(Y_dot_mags);
-norm_freq_axis_Y_dot = 0:1/(num_bins_Y_dot -1):1;
-% 
-% figure;
-% plot(Y_dot_mags);
-% xlabel('FFT Bins');
-% ylabel('Magnitude');
-
-% butterworth design technique
-[b_butter_y_dot5,a_butter_y_dot5] = butter(5, 0.1, 'low');
-[b_butter_y_dot10,a_butter_y_dot10] = butter(9, 0.1, 'low');
-
-% elliptic design technique
-[b_ellip_y_dot5,a_ellip_y_dot5] = ellip(5, .6, 40, 0.1, 'low');
-[b_ellip_y_dot10,a_ellip_y_dot10] = ellip(9, .6, 40, 0.1, 'low');
-
-% chebyshev design technique
-[b_cheby_y_dot5,a_cheby_y_dot5] = cheby1(5,.6, 0.1, 'low');
-[b_cheby_y_dot10,a_cheby_y_dot10] = cheby1(9,.6, 0.1, 'low');
-
-% Freq response calc.
-% butterworth design technique
-H_butter_y_dot5 = freqz(b_butter_y_dot5,a_butter_y_dot5, floor(num_bins_Y_dot));
-H_butter_y_dot10 = freqz(b_butter_y_dot10,a_butter_y_dot10, floor(num_bins_Y_dot));
-
-% elliptic design technique
-H_ellip_y_dot5 = freqz(b_ellip_y_dot5,a_ellip_y_dot5, floor(num_bins_Y_dot));
-H_ellip_y_dot10 = freqz(b_ellip_y_dot10,a_ellip_y_dot10, floor(num_bins_Y_dot));
-
-% chebyshev design technique
-H_cheby_y_dot5 = freqz(b_cheby_y_dot5,a_cheby_y_dot5, floor(num_bins_Y_dot));
-H_cheby_y_dot10 = freqz(b_cheby_y_dot10,a_cheby_y_dot10, floor(num_bins_Y_dot));
+plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',1.8);
+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);
+hold on
+plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.4);
+ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
 
-% 
-% %plot the frequency response (normalised frequency)
-% figure;
-% plot(norm_freq_axis_Y_dot, Y_dot_mags(1:num_bins_Y_dot));
-% hold on;
-% plot(norm_freq_axis_Y_dot, abs(H_butter_y_dot5),'r');
-% hold on;
-% plot(norm_freq_axis_Y_dot, abs(H_butter_y_dot10),'g');
-% hold off;
-% 
-% xlabel('Normalised frequency (\pi rads/sample)')
-% ylabel('Magnitude')
-% legend('FFT','butterworth 5th order','butterworth 10th order');
-% 
-% figure;
-% plot(norm_freq_axis_Y_dot, Y_dot_mags(1:num_bins_Y_dot));
-% hold on;
-% plot(norm_freq_axis_Y_dot, abs(H_ellip_y_dot5),'r');
-% hold on;
-% plot(norm_freq_axis_Y_dot, abs(H_ellip_y_dot10),'g');
-% hold off;
-% 
-% xlabel('Normalised frequency (\pi rads/sample)')
-% ylabel('Magnitude')
-% legend('FFT','elliptic 5th order','elliptic 10th order');
-% 
-% 
-% % Plot dB for freq 20log10(?) = -Hz => ? = 10^(-Hz*20)
-% % butterworth design technique
-% figure;
-% plot(norm_freq_axis_Y_dot, 20*log10(abs(H_butter_y_dot5))); %dB
-% hold on;
-% plot(norm_freq_axis_Y_dot, 20*log10(abs(H_butter_y_dot10)),'r'); %dB
-% hold off;
-% legend('buuerworth 5th','butterworth 10th');
-% xlabel('Normalised Frequency ');
-% ylabel('Magnitude (dB)');
-% 
-% % elliptic design technique
-% figure;
-% plot(norm_freq_axis_Y_dot, 20*log10(abs(H_ellip_y_dot5))); %dB
-% hold on;
-% plot(norm_freq_axis_Y_dot, 20*log10(abs(H_ellip_y_dot10)),'r'); %dB
-% hold off;
-% legend('elliptic 5th','elliptic 10th');
-% xlabel('Normalised Frequency ');
-% ylabel('Magnitude (dB)');
-
-%Filter the noisy sig
-%butterworth design technique
-y_dot_filt_butter_5 = filter(b_butter_y_dot5,a_butter_y_dot5,Vel_Y_data_4);
-%filter the noisy signal and plot the result
-y_dot_filt_butter_10 = filter(b_butter_y_dot10,a_butter_y_dot10,Vel_Y_data_4);
-
-%elliptic design technique
-y_dot_filt_ellip_5 = filter(b_ellip_y_dot5,a_ellip_y_dot5,Vel_Y_data_4);
-%filter the noisy signal and plot the result
-y_dot_filt_ellip_10 = filter(b_ellip_y_dot10,a_ellip_y_dot10,Vel_Y_data_4);
-
-%chebyshev design technique
-y_dot_filt_cheby_5 = filter(b_cheby_y_dot5,a_cheby_y_dot5,Vel_Y_data_4);
-%filter the noisy signal and plot the result
-y_dot_filt_cheby_10 = filter(b_cheby_y_dot10,a_cheby_y_dot10,Vel_Y_data_4);
-
-%plot the filtered signal
-figure;
-% butterworth design technique
-subplot(311);
-plot(t_V_sec_data_4,Vel_Y_data_4);
-hold on;
-plot(t_V_sec_data_4,y_dot_filt_butter_5,'r');
-hold on;
-plot(t_V_sec_data_4,y_dot_filt_butter_10,'g');
-grid on;
-title('Butterworth Filter Design Technique')
-legend('Original signal','5th Order','9th Order');
-
-% elliptic design technique
-subplot(312);
-plot(t_V_sec_data_4,Vel_Y_data_4);
-hold on;
-plot(t_V_sec_data_4,y_dot_filt_ellip_5,'r');
-hold on;
-plot(t_V_sec_data_4,y_dot_filt_ellip_10,'g');
-hold off;
-grid on;
-title('Elliptic Filter Design Technique')
-ylabel('y_{dot} [m/s]')
-
-% Chebyshev design technique
 subplot(313);
-plot(t_V_sec_data_4,Vel_Y_data_4);
-hold on;
-plot(t_V_sec_data_4,y_dot_filt_cheby_5,'r');
-hold on;
-plot(t_V_sec_data_4,y_dot_filt_cheby_10,'g');
-hold off;
-grid on;
-title('Chebyshev Filter Design Technique')
-xlabel('Time [sec]');
+plot(t_P_sec_data_1,Theta_data_1,'LineWidth',1.8);
+hold on
+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);
+hold on
+plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.4);
 
+xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
 
-%% Filter Design for theta_dot axis
 
-theta_dot_mags = abs(fft(Omega_Z_data_4));
-num_bins_theta_dot = length(theta_dot_mags);
-norm_freq_axis_theta_dot = 0:1/(num_bins_theta_dot -1):1;
-N = length(Omega_Z_data_4);
+% Control Signals
 
+% control signals
 figure;
-plot(theta_dot_mags);
-xlabel('FFT Bins');
-ylabel('Magnitude');
-
-% butterworth design technique
-[b_butter_theta_dot5,a_butter_theta_dot5] = butter(5, 0.06, 'low');
-[b_butter_theta_dot10,a_butter_theta_dot10] = butter(9, 0.06, 'low');
-
-% elliptic design technique
-[b_ellip_theta_dot5,a_ellip_theta_dot5] = ellip(5, .6, 60, 0.06, 'low');
-[b_ellip_theta_dot10,a_ellip_theta_dot10] = ellip(9, .6, 60, 0.06, 'low');
-
-% chebyshev design technique
-[b_cheby_theta_dot5,a_cheby_theta_dot5] = cheby1(5,.6, 0.06, 'low');
-[b_cheby_theta_dot10,a_cheby_theta_dot10] = cheby1(9,.6, 0.06, 'low');
-
-% Freq response calc.
-% butterworth design technique
-H_butter_theta_dot5 = freqz(b_butter_theta_dot5,a_butter_theta_dot5, floor(num_bins_theta_dot));
-H_butter_theta_dot10 = freqz(b_butter_theta_dot10,a_butter_theta_dot10, floor(num_bins_theta_dot));
-
-% elliptic design technique
-H_ellip_theta_dot5 = freqz(b_ellip_theta_dot5,a_ellip_theta_dot5, floor(num_bins_theta_dot));
-H_ellip_theta_dot10 = freqz(b_ellip_theta_dot10,a_ellip_theta_dot10, floor(num_bins_theta_dot));
-
-% chebyshev design technique
-H_cheby_theta_dot5 = freqz(b_cheby_theta_dot5,a_cheby_theta_dot5, floor(num_bins_theta_dot));
-H_cheby_theta_dot10 = freqz(b_cheby_theta_dot10,a_cheby_theta_dot10, floor(num_bins_theta_dot));
+set(gcf,'color','white');
 
+subplot(311);
+plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',1.8);
+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);
+hold on
+plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.4);
 
-%plot the frequency response (normalised frequency)
-figure;
-plot(norm_freq_axis_theta_dot, theta_dot_mags(1:num_bins_theta_dot));
-hold on;
-plot(norm_freq_axis_theta_dot, abs(H_butter_theta_dot5),'r');
-hold on;
-plot(norm_freq_axis_theta_dot, abs(H_butter_theta_dot10),'g');
-hold off;
+title('Control Signals');
+ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
 
-xlabel('Normalised frequency (\pi rads/sample)')
-ylabel('Magnitude')
-legend('FFT','butterworth 5th order','butterworth 10th order');
+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',11);
+legend('boxoff');
 
-figure;
-plot(norm_freq_axis_theta_dot, theta_dot_mags(1:num_bins_theta_dot));
-hold on;
-plot(norm_freq_axis_theta_dot, abs(H_ellip_theta_dot5),'r');
-hold on;
-plot(norm_freq_axis_theta_dot, abs(H_ellip_theta_dot10),'g');
-hold off;
 
-xlabel('Normalised frequency (\pi rads/sample)')
-ylabel('Magnitude')
-legend('FFT','elliptic 5th order','elliptic 10th order');
+subplot(312);
+plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',1.8);
+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);
+hold on
+plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.4);
+ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
 
+subplot(313);
+plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',1.8);
+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);
+hold on
+plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.4);
+xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
+
+% Trajectory
 
-% Plot dB for freq 20log10(?) = -Hz => ? = 10^(-Hz*20)
-% butterworth design technique
 figure;
-plot(norm_freq_axis_theta_dot, 20*log10(abs(H_butter_theta_dot5))); %dB
-hold on;
-plot(norm_freq_axis_theta_dot, 20*log10(abs(H_butter_theta_dot10)),'r'); %dB
-hold off;
-legend('buuerworth 5th','butterworth 10th');
-xlabel('Normalised Frequency ');
-ylabel('Magnitude (dB)');
-
-% elliptic design technique
-figure;
-plot(norm_freq_axis_theta_dot, 20*log10(abs(H_ellip_theta_dot5))); %dB
-hold on;
-plot(norm_freq_axis_theta_dot, 20*log10(abs(H_ellip_theta_dot10)),'r'); %dB
-hold off;
-legend('elliptic 5th','elliptic 10th');
-xlabel('Normalised Frequency ');
-ylabel('Magnitude (dB)');
-
-%Filter the noisy sig
-%butterworth design technique
-theta_dot_filt_butter_5 = filter(b_butter_theta_dot5,a_butter_theta_dot5,Omega_Z_data_4);
-%filter the noisy signal and plot the result
-theta_dot_filt_butter_10 = filter(b_butter_theta_dot10,a_butter_theta_dot10,Omega_Z_data_4);
-
-%elliptic design technique
-theta_dot_filt_ellip_5 = filter(b_ellip_theta_dot5,a_ellip_theta_dot5,Omega_Z_data_4);
-%filter the noisy signal and plot the result
-theta_dot_filt_ellip_10 = filter(b_ellip_theta_dot10,a_ellip_theta_dot10,Omega_Z_data_4);
-
-%chebyshev design technique
-y_dot_filt_cheby_5 = filter(b_cheby_theta_dot5,a_cheby_theta_dot5,Omega_Z_data_4);
-%filter the noisy signal and plot the result
-y_dot_filt_cheby_10 = filter(b_cheby_theta_dot10,a_cheby_theta_dot10,Omega_Z_data_4);
-
-%plot the filtered signal
-figure;
-% butterworth design technique
-subplot(311);
-plot(t_V_sec_data_4,Omega_Z_data_4);
-hold on;
-plot(t_V_sec_data_4,theta_dot_filt_butter_5,'r');
-hold on;
-plot(t_V_sec_data_4,theta_dot_filt_butter_10,'g');
-grid on;
-title('Butterworth Filter Design Technique')
-legend('Original signal','5th Order','9th Order');
-
-% elliptic design technique
-subplot(312);
-plot(t_V_sec_data_4,Omega_Z_data_4);
-hold on;
-plot(t_V_sec_data_4,theta_dot_filt_ellip_5,'r');
-hold on;
-plot(t_V_sec_data_4,theta_dot_filt_ellip_10,'g');
-hold off;
-grid on;
-title('Elliptic Filter Design Technique')
-ylabel('\theta_{dot} [m]')
-
-% Chebyshev design technique
-subplot(313);
-plot(t_V_sec_data_4,Omega_Z_data_4);
-hold on;
-plot(t_V_sec_data_4,y_dot_filt_cheby_5,'r');
-hold on;
-plot(t_V_sec_data_4,y_dot_filt_cheby_10,'g');
-hold off;
-grid on;
-title('Chebyshev Filter Design Technique')
-xlabel('Time [sec]');
-
-
-% % Plot
-% 
-% Camera Pose Estimation
-% figure;
-% subplot(3,1,1);
-% plot(t_P_sec_data_4,Pose_X_data_4,'LineWidth',1.5);
-% title('Camera Pose estimation');
-% ylabel('X_{cam}');
-% 
-% subplot(3,1,2);
-% plot(t_P_sec_data_4,Pose_Y_data_4,'LineWidth',1.5);
-% ylabel('Y_{cam}');
-% 
-% subplot(3,1,3);
-% plot(t_P_sec_data_4,Theta_data_4,'LineWidth',1.5);
-% xlabel('time');
-% ylabel('\theta_{cam}');
-% 
-% Control Signals
-% figure;
-% subplot(3,1,1);
-% plot(t_V_sec_data_4,Vel_X_data_4,'LineWidth',1.5);
-% title('Control Signals');
-% ylabel('x_{dot}');
-% 
-% 
-% subplot(3,1,2);
-% plot(t_V_sec_data_4,Vel_Y_data_4,'LineWidth',1.5);
-% ylabel('y_{dot}');
-% 
-% subplot(3,1,3);
-% plot(t_V_sec_data_4,Omega_Z_data_4,'LineWidth',1.5);
-% xlabel('time');
-% ylabel('\theta_{dot}');
-% 
-% Transposed Axis
+set(gcf,'color','white');
+subplot(131);
+plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
+% hold on
+% quiver(abs(Pose_Y_data_1),Pose_X_data_1,gradient(Pose_Y_data_1),gradient(Pose_X_data_1),'r--','LineWidth',.1);
+
+hold on
+plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
+% hold on
+% quiver(abs(Pose_Y_data_2),Pose_X_data_2,gradient(Pose_Y_data_2),gradient(Pose_X_data_2),'m--','LineWidth',.1);
+
+hold on
+plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
+% hold on
+% quiver(abs(Pose_Y_data_3),Pose_X_data_3,gradient(Pose_Y_data_3),gradient(Pose_X_data_3),'k--','LineWidth',.1);
+
+hold on
+plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
+% hold on
+% quiver(abs(Pose_Y_data_4),Pose_X_data_4,gradient(Pose_Y_data_4),gradient(Pose_X_data_4),'b--','LineWidth',.1);
+
+hold on
+plot(y_circle,x_circle,'k--','LineWidth',3.4);
+
+title('Approach zone + SM zone + Target area');
+ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',14);
+axis([-.65 .05 -1.6 -.19]);
+
+subplot(132);
+plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
+hold on
+plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
+hold on
+plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
+hold on
+plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
+hold on
+plot(y_circle,x_circle,'k--','LineWidth',3.4);
+
+title('SM zone + Target area');
+xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
+axis([-.025 0.005 -.29 -.19]);
+
+subplot(133);
+plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
+hold on
+plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
+hold on
+plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
+hold on
+plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
+hold on
+plot(y_circle,x_circle,'k--','LineWidth',3.4);
+
+title('Target area');
+axis([-.0205 -.0168 -.2054 -.199]);
+l = legend('${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$', '${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${Target}$');
+set(l,'interpreter','latex','FontSize',11);
+
+
+% 
+% % Transposed Axis
 % figure;
 % subplot(3,1,1);
 % plot(t_T_sec_data_4,x_t_4,'LineWidth',1.5);