diff --git a/Files_4_thesis/Different_controllers/CAM_PID_.266_.0003_.014.txt b/Files_4_thesis/Different_controllers/CAM_PID_.266_.0003_.014.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4a2291057d0d3df9da3ee993a355989a10a00b05
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.266_.0003_.014.txt
@@ -0,0 +1,337 @@
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diff --git a/Files_4_thesis/Different_controllers/CAM_PID_.266_.0003_.014_R.txt b/Files_4_thesis/Different_controllers/CAM_PID_.266_.0003_.014_R.txt
new file mode 100644
index 0000000000000000000000000000000000000000..592cbd270a620296bbb6c6c7669958c5b5c345dc
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.266_.0003_.014_R.txt
@@ -0,0 +1,454 @@
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diff --git a/Files_4_thesis/Different_controllers/CAM_PID_.28_0_.006.txt b/Files_4_thesis/Different_controllers/CAM_PID_.28_0_.006.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bfb01be099a4b3de5415694481c6f84745ca300
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.28_0_.006.txt
@@ -0,0 +1,308 @@
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diff --git a/Files_4_thesis/Different_controllers/Trans_PID_.28_0_.006.txt b/Files_4_thesis/Different_controllers/Trans_PID_.28_0_.006.txt
new file mode 100644
index 0000000000000000000000000000000000000000..db0658eafc40f04d5602fb0d0a15c5ae22f81367
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/Trans_PID_.28_0_.006.txt
@@ -0,0 +1,308 @@
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+1475142154980969438,0.00509302411228,0.00816267542541,0.219181701541,1.55084681511,-0.00316827441566,3.09277820587,0.0
+1475142155056327812,0.00510562025011,0.00818049442023,0.218510881066,1.55189657211,-0.00863665156066,3.08995652199,0.0
+1475142155135536163,0.00509509304538,0.0081710005179,0.218202456832,1.55128598213,-0.00856338720769,3.09104752541,0.0
+1475142155209037362,0.00509039964527,0.00814891513437,0.217821598053,1.55073881149,-0.0098568899557,3.09238529205,0.0
+1475142155285135645,0.00504104886204,0.00813100021333,0.217269971967,1.55055546761,-0.00580308446661,3.09218883514,0.0
+1475142155366129200,0.00499867787585,0.00814014580101,0.21685063839,1.55150532722,-0.00330527103506,3.08984780312,0.0
+1475142155444773344,0.00500775827095,0.00811297725886,0.21642999351,1.551679492,-0.00600679125637,3.09129071236,0.0
+1475142155521206033,0.00501266727224,0.0081018153578,0.216139122844,1.55115711689,-0.00739726191387,3.09215831757,0.0
+1475142155599152668,0.00498103303835,0.00807499419898,0.215695351362,1.55073058605,-0.00977148674428,3.09330773354,0.0
+1475142155677339090,0.00496563408524,0.00808287411928,0.216162160039,1.55070817471,-0.0115697309375,3.09659290314,0.0
+1475142155759386139,0.00495607079938,0.00814201217145,0.216546773911,1.55120289326,-0.00956627260894,3.09129428864,0.0
+1475142155833680141,0.00487892702222,0.00811678543687,0.216043308377,1.55140376091,-0.00952203478664,3.09174346924,0.0
+1475142155912861808,0.00484264688566,0.00809125509113,0.215769380331,1.55168092251,-0.0126875732094,3.09287309647,0.0
+1475142155988749176,0.00467063998803,0.00801957305521,0.213916376233,1.55137443542,-0.00491411052644,3.09163498878,0.0
+1475142156064262767,0.00449276622385,0.00800020620227,0.212958678603,1.5517270565,-0.00427308026701,3.08907818794,0.0
+1475142156144140966,0.0044063879177,0.00798695441335,0.212647750974,1.5513869524,-0.00845427066088,3.09411668777,0.0
+1475142156219956948,0.00428025284782,0.00801973883063,0.212148085237,1.55172717571,-0.00848406087607,3.08996844292,0.0
+1475142156298925187,0.00411731004715,0.00805601850152,0.211412832141,1.55117356777,-0.00643895054236,3.08988642693,0.0
+1475142156377361700,0.00415731081739,0.0081245508045,0.21132452786,1.55158984661,-0.00926548521966,3.08922553062,0.0
+1475142156454448003,0.00416158232838,0.0082163149491,0.21133671701,1.55121290684,-0.00751917157322,3.09110951424,0.0
+1475142156528994508,0.00394258927554,0.00841535627842,0.209971338511,1.5514601469,-0.00229164166376,3.08850288391,0.0
+1475142156608450811,0.00387833663262,0.00841163657606,0.208933889866,1.55095934868,-0.00832475814968,3.09493088722,0.0
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+1475142156758043198,0.00389427179471,0.00844181515276,0.208396077156,1.55132436752,-0.00936200655997,3.08896660805,0.0
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+1475142156995604644,0.00380473886617,0.00838202331215,0.207107841969,1.55098819733,-0.00527386507019,3.09294247627,0.0
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+1475142157459454246,0.00375291868113,0.00844417139888,0.206307917833,1.55091583729,-0.0120423380286,3.09427547455,0.0
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+1475142157614736566,0.00367419584654,0.008470159024,0.203465223312,1.55136728287,-0.000677873671521,3.0897231102,0.0
+1475142157690122361,0.00365737918764,0.00852314289659,0.203243359923,1.55117952824,-0.00691113248467,3.09190607071,0.0
diff --git a/Files_4_thesis/Different_controllers/docking_with_PID_controller.asv b/Files_4_thesis/Different_controllers/docking_with_PID_controller.asv
deleted file mode 100644
index c837532b47c9c5d9a32e46948bb77dc675e34a5a..0000000000000000000000000000000000000000
--- a/Files_4_thesis/Different_controllers/docking_with_PID_controller.asv
+++ /dev/null
@@ -1,603 +0,0 @@
-clc;
-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;
-
-% 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_.31_.00065_.071.txt',1,0);
-Vel_Matrix_data_1 = csvread('vel_PID_.31_.00065_.071.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 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;
-% 
-% 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_.38_.0001_.02.txt',1,0);
-Vel_Matrix_data_2 = csvread('vel_PID_.38_.0001_.02.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: 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;
-
-% 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('CAM_PID_.38_0_.02.txt',1,0);
-Vel_Matrix_data_3 = csvread('vel_PID_.38_0_.02.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: 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);
-
-% 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 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)) = [];
-
-% -----------------------------------------------------------------------------------------------------
-% data 5: 450 ros messages for geometry_msgs/Twist 
-%         451 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% P = .86; I = 0; D = 0.1;
-
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
-
-Pose_Matrix_data_5 = csvread('Pose_with_Android.txt',1,0);
-Vel_Matrix_data_5 = csvread('Velocity_with_Android.txt',1,0);
-
-% time in position
-TimeP_ros_data_5 = Pose_Matrix_data_5(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationP_data_5 = (TimeP_ros_data_5(size(TimeP_ros_data_5,1),:) - TimeP_ros_data_5(1,:))*10^(-9); 
-  
-t_P_sec_data_5 = 0:durationP_data_5/size(TimeP_ros_data_5,1):durationP_data_5;
-t_P_sec_data_5(:,size(t_P_sec_data_5,2)) = [];
-
-% time in vel
-TimeV_ros_data_5 = Vel_Matrix_data_5(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationV_data_5 = (TimeV_ros_data_5(size(TimeV_ros_data_5,1),:) - TimeV_ros_data_5(1,:))*10^(-9);
-
-t_V_sec_data_5 = 0:durationV_data_5/size(TimeV_ros_data_5,1):durationV_data_5;
-t_V_sec_data_5(:,size(t_V_sec_data_5,2)) = [];
-
-%% Pose estimation
-
-%data 1:
-% when using marker pose ,,,,
-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);
-
-
-% 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));
-ref_Theta_data_1 = Theta_data_1(size(Theta_data_1,1));
-ref_Pose_data_1 =[ref_X_data_1;ref_Y_data_1];
-
-%data 2:
-% when using marker pose ,,,,
-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);
-
-% 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));
-ref_Y_data_2 = Pose_Y_data_2(size(Pose_Y_data_2,1));
-ref_Theta_data_2 = Theta_data_2(size(Theta_data_2,1));
-ref_Pose_data_2 =[ref_X_data_2;ref_Y_data_2];
-
-%data 3:
-% when using marker pose ,,,,
-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);
-
-% 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));
-ref_Theta_data_3 = Theta_data_3(size(Theta_data_3,1));
-ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];
-
-%data 4:
-% when using marker pose ,,,,
-Pose_X_data_4 = Pose_Matrix_data_4(:,4);
-Pose_Y_data_4 = Pose_Matrix_data_4(:,3);
-Theta_data_4 = Pose_Matrix_data_4(:,7);
-
-
-% 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];
-
-
-%data 5:
-% when using marker pose ,,,,
-Pose_X_data_5 = Pose_Matrix_data_5(:,4);
-Pose_Y_data_5 = Pose_Matrix_data_5(:,3);
-Theta_data_5 = Pose_Matrix_data_5(:,7);
-
-% Extracting reference values when the robot is manually docked!
-ref_X_data_5 = Pose_X_data_5(size(Pose_X_data_5,1));
-ref_Y_data_5 = Pose_Y_data_5(size(Pose_Y_data_5,1));
-ref_Theta_data_5 = Theta_data_5(size(Theta_data_5,1));
-ref_Pose_data_5 =[ref_X_data_5;ref_Y_data_5];
-
-
-% 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 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);
-
-% 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);
-
-% 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);
-
-% 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);
-
-% data 5:
-Vel_X_data_5 = Vel_Matrix_data_5(:,2);
-Vel_Y_data_5 = Vel_Matrix_data_5(:,3);
-Omega_Z_data_5 = Vel_Matrix_data_5(:,7);
-
-%% Plots
-
-% marker position
-figure;
-plot(t_P_sec_data_4,Pose_Y_data_4,'k','LineWidth',1.6);
-xlabel('time');
-ylabel('y');
-
-figure;
-plot(t_P_sec_data_4,Theta_data_4),'k','LineWidth',1.6);
-xlabel('time');
-ylabel('\theta');
-
-
-figure;
-set(gcf,'color','white');
-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',2.3);
-hold on
-plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.6);
-title('Pose estimation in marker coordinate system');
-ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
-
-l2 = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$');
-set(l2,'interpreter','latex','FontSize',11);
-legend('boxoff');
-
-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',2.3);
-hold on
-plot(t_P_sec_data_4,Pose_Y_data_4,'m','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',2.3);
-hold on
-plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.6);
-xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
-ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
-
-% control signals
-
-figure;
-set(gcf,'color','white');
-subplot(3,1,1);
-
-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',2.3);
-hold on
-plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.6);
-
-title('Control Signals');
-ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
-axis([0 45 -.01 .2]);
-
-l2 = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$');
-set(l2,'interpreter','latex','FontSize',11);
-legend('boxoff');
-
-
-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',2.3);
-hold on
-plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.6);
-ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
-
-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',2.3);
-hold on
-plot(t_V_sec_data_4,Omega_Z_data_4,'m','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(Pose_X_data_1);
-% Vy = gradient(Pose_Y_data_1);
-
-% figure;
-% plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',3.5);
-% hold on
-% quiver(Pose_Y_data_1,Pose_X_data_1,Vy,Vx,'r--','LineWidth',.1);
-
-figure;
-plot(abs(Pose_Y_data_4),Pose_X_data_4,'k','LineWidth',1.1);
-axis([-.5 .7 .1 1.6]);
-
-
-figure;
-subplot(1,3,1);
-plot(abs(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(abs(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(abs(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(abs(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([-.1 .4 .18 1.4]);
-axis([-.5 .7 .1 1.6])
-
-subplot(1,3,2);
-plot(abs(Pose_Y_data_1),Pose_X_data_1,'b','LineWidth',2);
-hold on
-plot(abs(Pose_Y_data_2),Pose_X_data_2,'r','LineWidth',2);
-hold on
-plot(abs(Pose_Y_data_3),Pose_X_data_3,'g','LineWidth',2);
-hold on
-plot(abs(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([-.005 0.045 .195 .32]);
-
-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_4,Pose_X_data_4,'m','LineWidth',2);
-hold on
-plot(y_circle,x_circle,'k--','LineWidth',3.4);
-
-title('Target area');
-% axis([0.0065 .0095 .1995 .2055]);
-
-l = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$' ,'Target');
-set(l,'interpreter','latex','FontSize',11);
-% legend('boxoff');
-
-% 
-% % sampling time
-% figure;
-% set(gcf,'color','white');
-% 
-% subplot(2,2,1);
-% plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',1.4)
-% hold on
-% plot (diff(t_P_sec_data_3),'k--','LineWidth',1.8);
-% % hold on
-% title({'USB Camera';'Position'});
-% ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
-% axis([0 450 .068 .11]);
-% l3 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
-% set(l3,'interpreter','latex','FontSize',13);
-% 
-% subplot(2,2,2);
-% plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4)
-% hold on;
-% plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
-% 
-% title({'Android Camera';'Position'});
-% axis([0 234 .068 .3]);
-% 
-% l4 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
-% set(l4,'interpreter','latex','FontSize',13);
-% legend('boxoff');
-% 
-% subplot(2,2,3);
-% plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',1.4);
-% hold on;
-% plot (diff(t_V_sec_data_3),'k--','LineWidth',1.8);
-% % hold on;
-% title('Velocity');
-% xlabel('samples','interpreter','latex','FontSize',13);
-% ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
-% axis([0 450 .068 .11]);
-% 
-% subplot(2,2,4);
-% plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
-% hold on;
-% plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
-% 
-% title('Velocity');
-% xlabel('samples','interpreter','latex','FontSize',13);
-% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
-% axis([0 234 .068 .3]);
-% 
-% 
-% figure;
-% set(gcf,'color','white');
-% 
-% subplot(2,1,1);
-% pa1 = plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',2.1);
-% hold on
-% pa2 = plot (diff(t_P_sec_data_3),'k--','LineWidth',1.5);
-% hold on
-% pa3 = plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4);
-% hold on;
-% pa4 = plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
-% hold off;
-% axis([0 234 0 .3]);
-% title('Position');
-% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
-% % 
-% % l5 = legend([pa1 pa2],'$USB Camera {Time_{ROS}}$','$ USB Camera {Time_{Real}} [sec]$','Orientation','horizontal');
-% % set(l5,'interpreter','latex','FontSize',11);
-% 
-% % leg = 
-% legend('ROS Time, USB camera','Real Time, USB camera [sec]','ROS Time, IP camera','Real Time, IP camera [sec]','Location','northwest');
-% legend('boxoff');
-% 
-% subplot(2,1,2);
-% p1 = plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',2.1);
-% hold on;
-% p2 = plot (diff(t_V_sec_data_3),'k--','LineWidth',1.5);
-% hold on;
-% p3 = plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
-% hold on;
-% p4 = plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
-% hold off;
-% axis([0 234 0 .3]);
-% title('Velocity');
-% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
-% % xlabel('Sample','interpreter','latex','FontSize',13);
-% % 
-% % l6 = legend([p3 p4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
-% % set(l6,'interpreter','latex','FontSize',12);
-% 
-% MaxOvershoot_1 = -ref_y + min(Pose_Y_data_1)
-% MaxOvershoot_2 = -ref_y + min(Pose_Y_data_2)
-% MaxOvershoot_3 = -ref_y + min(Pose_Y_data_3)
-% MaxOvershoot_4 = -ref_y + min(Pose_Y_data_4)
-% % Pose diff 
-% % figure;
-% % subplot(3,1,1);
-% % plot(diff(Pose_X_data_1));
-% % title('X-Pose diff');
-% % xlabel('samples');
-% % ylabel('X difference [m]');
-% % grid on
-% % 
-% % subplot(3,1,2);
-% % plot(diff(Pose_X_data_1));
-% % title('Y-Pose diff');
-% % xlabel('samples');
-% % ylabel('Y difference [m]');
-% % grid on
-% % 
-% % subplot(3,1,3);
-% % plot(diff(Theta_data_1));
-% % title('\theta-Pose diff');
-% % xlabel('samples');
-% % ylabel('\theta difference [rad]');
-% % grid on
\ No newline at end of file
diff --git a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
index 63a4cd75d6eed2dc47d00f0bbe22313b3ce302a7..8880524b001dfefa3601ae028e759d91e3e7651e 100644
--- a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
+++ b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
@@ -1,27 +1,13 @@
 clc;
 close all;
 clear all;
+
+yaw_off = pi;
 %% 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;
 
 % 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);
@@ -91,8 +77,8 @@ t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
 % 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('CAM_PID_.3_.0004_.02.txt',1,0);
-Vel_Matrix_data_3 = csvread('vel_PID_.3_.0004_.02.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...
@@ -124,8 +110,8 @@ t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];
 % 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.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...
@@ -146,13 +132,8 @@ 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)) = [];
 
 % -----------------------------------------------------------------------------------------------------
-% data 5: 450 ros messages for geometry_msgs/Twist 
-%         451 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% P = .86; I = 0; D = 0.1;
+% data 5: ANDROID CAMERA
 
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
 
 Pose_Matrix_data_5 = csvread('Pose_with_Android.txt',1,0);
 Vel_Matrix_data_5 = csvread('Velocity_with_Android.txt',1,0);
@@ -175,6 +156,32 @@ TimeV_ros_data_5 = Vel_Matrix_data_5(:,1); % ros time, needs to be converted to
 t_V_sec_data_5 = 0:durationV_data_5/size(TimeV_ros_data_5,1):durationV_data_5;
 t_V_sec_data_5(:,size(t_V_sec_data_5,2)) = [];
 
+% -----------------------------------------------------------------------------------------------------
+% data 6: with several oscilations
+
+
+Pose_Matrix_data_6 = csvread('CAM_PID_.39_.0005_.01.txt',1,0);
+Vel_Matrix_data_6 = csvread('vel_PID_.39_.0005_.01.txt',1,0);
+
+% time in position
+TimeP_ros_data_6 = Pose_Matrix_data_6(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationP_data_6 = (TimeP_ros_data_6(size(TimeP_ros_data_6,1),:) - TimeP_ros_data_6(1,:))*10^(-9); 
+  
+t_P_sec_data_6 = 0:durationP_data_6/size(TimeP_ros_data_6,1):durationP_data_6;
+t_P_sec_data_6(:,size(t_P_sec_data_6,2)) = [];
+
+% time in vel
+TimeV_ros_data_6 = Vel_Matrix_data_6(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationV_data_6 = (TimeV_ros_data_6(size(TimeV_ros_data_6,1),:) - TimeV_ros_data_6(1,:))*10^(-9);
+
+t_V_sec_data_6 = 0:durationV_data_6/size(TimeV_ros_data_6,1):durationV_data_6;
+t_V_sec_data_6(:,size(t_V_sec_data_6,2)) = [];
+
+
 %% Pose estimation
 
 %data 1:
@@ -183,12 +190,14 @@ 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);
 
-
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
-
+% for i = 1:size(Theta_data_1,1)
+%     if (Theta_data_1(i) > 0)
+%         Theta_data_1(i) = Theta_data_1(i) - yaw_off;
+%     else if(Theta_data_1(i) < 0)
+%             Theta_data_1(i) = Theta_data_1(i) + yaw_off;
+%         end
+%     end
+% end
 % 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));
@@ -201,10 +210,14 @@ 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);
 
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
+% for i = 1:size(Theta_data_2,1)
+%     if (Theta_data_2(i) > 0)
+%         Theta_data_2(i) = Theta_data_2(i) - yaw_off;
+%     else if(Theta_data_2(i) < 0)
+%             Theta_data_2(i) = Theta_data_2(i) + yaw_off;
+%         end
+%     end
+% end
 
 % Extracting reference values when the robot is manually docked!
 ref_X_data_2 = Pose_X_data_2(size(Pose_X_data_2,1));
@@ -218,11 +231,15 @@ 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);
 
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
-
+% 
+% for i = 1:size(Theta_data_3,1)
+%     if (Theta_data_3(i) > 0)
+%         Theta_data_3(i) = Theta_data_3(i) - yaw_off;
+%     else if(Theta_data_3(i) < 0)
+%             Theta_data_3(i) = Theta_data_3(i) + yaw_off;
+%         end
+%     end
+% end
 % 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));
@@ -232,9 +249,17 @@ ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];
 %data 4:
 % when using marker pose ,,,,
 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);
+Theta_data_4 = Pose_Matrix_data_4(:,7);
+% 
+% for i = 1:size(Theta_data_4,1)
+%     if (Theta_data_4(i) > 0)
+%         Theta_data_4(i) = Theta_data_4(i) - yaw_off;
+%     else if(Theta_data_4(i) < 0)
+%             Theta_data_4(i) = Theta_data_4(i) + yaw_off;
+%         end
+%     end
+% end
 
 % Extracting reference values when the robot is manually docked!
 ref_X_data_4 = Pose_X_data_4(size(Pose_X_data_4,1));
@@ -255,17 +280,27 @@ ref_Y_data_5 = Pose_Y_data_5(size(Pose_Y_data_5,1));
 ref_Theta_data_5 = Theta_data_5(size(Theta_data_5,1));
 ref_Pose_data_5 =[ref_X_data_5;ref_Y_data_5];
 
+%data 6:
+% when using marker pose ,,,,
+Pose_X_data_6 = Pose_Matrix_data_6(:,4);
+Pose_Y_data_6 = Pose_Matrix_data_6(:,3);
+Theta_data_6 = Pose_Matrix_data_6(:,7);
+
+% Extracting reference values when the robot is manually docked!
+ref_X_data_6 = Pose_X_data_6(size(Pose_X_data_6,1));
+ref_Y_data_6 = Pose_Y_data_6(size(Pose_Y_data_6,1));
+ref_Theta_data_6 = Theta_data_6(size(Theta_data_6,1));
+ref_Pose_data_6 =[ref_X_data_6;ref_Y_data_6];
 
 % 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;
+ref_x = .2026;
+ref_y = .0087;
 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 1:
@@ -293,16 +328,21 @@ Vel_X_data_5 = Vel_Matrix_data_5(:,2);
 Vel_Y_data_5 = Vel_Matrix_data_5(:,3);
 Omega_Z_data_5 = Vel_Matrix_data_5(:,7);
 
+% data 6:
+Vel_X_data_6 = Vel_Matrix_data_6(:,2);
+Vel_Y_data_6 = Vel_Matrix_data_6(:,3);
+Omega_Z_data_6 = Vel_Matrix_data_6(:,7);
+
 %% Plots
 
 % marker position
 figure;
-plot(t_P_sec_data_4,Pose_Y_data_4,'k','LineWidth',1.6);
+plot(t_P_sec_data_6,Pose_Y_data_6,'k','LineWidth',1.6);
 xlabel('time');
 ylabel('y');
 
 figure;
-plot(t_P_sec_data_4,Theta_data_4,'k','LineWidth',1.6);
+plot(t_P_sec_data_6,Theta_data_6,'k','LineWidth',1.6);
 xlabel('time');
 ylabel('\theta');
 
@@ -310,38 +350,39 @@ ylabel('\theta');
 figure;
 set(gcf,'color','white');
 subplot(3,1,1);
-plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',3);
+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',2.3);
-% hold on
-% plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.6);
+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',1.5);
 title('Pose estimation in marker coordinate system');
 ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
 
-l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
+l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$');
 set(l2,'interpreter','latex','FontSize',11);
 legend('boxoff');
 
 subplot(3,1,2);
-plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
+plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',2.1);
 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',2.3);
-% hold on
-% plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6);
+plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.8);
+hold on
+plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.5);
 ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
-% axis([0 80 -.1 .67])
+
 subplot(3,1,3);
-plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
+plot(t_P_sec_data_1,Theta_data_1,'LineWidth',2.1);
 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',2.3);
-% hold on
-% plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.6);
+plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.8);
+hold on
+plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.5);
+
 xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
 ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
 
@@ -351,41 +392,40 @@ figure;
 set(gcf,'color','white');
 subplot(3,1,1);
 
-plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3);
+plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',2.1);
 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',2.3);
-% hold on
-% plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.6);
+plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.8);
+hold on
+plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.5);
 
 title('Control Signals');
 ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
-axis([0 45 -.01 .2]);
 
-l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
+l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$');
 set(l2,'interpreter','latex','FontSize',11);
 legend('boxoff');
 
 
 subplot(3,1,2);
-plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',3);
+plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',2.1);
 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',2.3);
-% hold on
-% plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.6);
+plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.8);
+hold on
+plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.5);
 ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
 
 subplot(3,1,3);
-plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',3);
+plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',2.1);
 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',2.3);
-% hold on
-% plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.6);
+plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.8);
+hold on
+plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.5);
 xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
 ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
 
@@ -420,8 +460,8 @@ ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
 % quiver(Pose_Y_data_1,Pose_X_data_1,Vy,Vx,'r--','LineWidth',.1);
 
 figure;
-plot(Pose_Y_data_4,Pose_X_data_4,'k','LineWidth',1.1);
-axis([-.5 .7 .1 1.6]);
+plot(Pose_Y_data_6,Pose_X_data_6,'k','LineWidth',1.4);
+axis([-.3 .7 .1 1.6]);
 
 
 figure;
@@ -440,8 +480,8 @@ 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
+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);
 
@@ -450,8 +490,7 @@ 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([-.1 .4 .18 1.4]);
-axis([-.5 .7 .1 1.6])
+axis([-.05 .26 .19 1.52]);
 
 subplot(1,3,2);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
@@ -459,14 +498,14 @@ 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(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([-.005 0.045 .195 .32]);
+axis([-.023 0.02 .19 .29]);
 
 subplot(1,3,3);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
@@ -474,15 +513,15 @@ 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(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([0.0065 .0095 .1995 .2055]);
+axis([0.0072 .0101 .20 .2056]);
 
-l = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
+l = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$','${Target}$');
 set(l,'interpreter','latex','FontSize',11);
 % legend('boxoff');
 
diff --git a/Files_4_thesis/Different_controllers/vel_PID_.266_.0003_.014.txt b/Files_4_thesis/Different_controllers/vel_PID_.266_.0003_.014.txt
new file mode 100644
index 0000000000000000000000000000000000000000..938bf50843890a8e907ccabddf3a4ce5d74d76b2
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/vel_PID_.266_.0003_.014.txt
@@ -0,0 +1,336 @@
+%time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z
+1475057448861447116,0.15,-0.236903457995,0.0,0.0,0.0,0.050323176384
+1475057448961320169,0.15,-0.15796277039,0.0,0.0,0.0,0.0516177892685
+1475057449049653000,0.15,-0.155661921094,0.0,0.0,0.0,0.0509604692459
+1475057449136758889,0.15,-0.156154803349,0.0,0.0,0.0,0.0509604692459
+1475057449216380114,0.15,-0.157445687816,0.0,0.0,0.0,0.0515488266945
+1475057449303620306,0.15,-0.158281601687,0.0,0.0,0.0,0.0521292567253
+1475057449383025813,0.15,-0.15660864475,0.0,0.0,0.0,0.0515488266945
+1475057449467080306,0.15,-0.157059843488,0.0,0.0,0.0,0.0515488266945
+1475057449553131106,0.15,-0.149245495663,0.0,0.0,0.0,0.0485307455063
+1475057449639361692,0.15,-0.150391180832,0.0,0.0,0.0,0.0477343678474
+1475057449719445708,0.15,-0.161581523731,0.0,0.0,0.0,0.0539364099503
+1475057449801250545,0.15,-0.126162883514,0.0,0.0,0.0,0.0402397990227
+1475057449885979252,0.15,-0.158141545583,0.0,0.0,0.0,0.0519978880882
+1475057449971464584,0.15,-0.157055045953,0.0,0.0,0.0,0.0576278448105
+1475057450055318767,0.15,-0.131491276872,0.0,0.0,0.0,0.0476804256439
+1475057450139787569,0.15,-0.143499442056,0.0,0.0,0.0,0.0512091994286
+1475057450224216200,0.15,0.286707360063,0.0,0.0,0.0,-0.146893453598
+1475057450305704583,0.15,-0.278706653472,0.0,0.0,0.0,0.0474402189255
+1475057450388841706,0.15,0.249309938435,0.0,0.0,0.0,-0.131584477425
+1475057450479669176,0.15,0.151333293486,0.0,0.0,0.0,-0.148521316051
+1475057450563843643,0.15,-0.266061554938,0.0,0.0,0.0,0.0469114661217
+1475057450647177744,0.15,0.253066339831,0.0,0.0,0.0,-0.137646090984
+1475057450724734818,0.15,-0.219924879241,0.0,0.0,0.0,0.0309035658836
+1475057450819144634,0.15,-0.0973535820686,0.0,0.0,0.0,0.0296577692032
+1475057450896304160,0.15,-0.111872609087,0.0,0.0,0.0,0.0381224632263
+1475057450980849945,0.15,-0.109096961164,0.0,0.0,0.0,0.0402956485748
+1475057451059000305,0.15,-0.0771845134748,0.0,0.0,0.0,0.0250303030014
+1475057451143925233,0.15,-0.0902379544947,0.0,0.0,0.0,0.0273350954056
+1475057451224316498,0.15,-0.107198959119,0.0,0.0,0.0,0.0396902441978
+1475057451303728302,0.15,0.208136176539,0.0,0.0,0.0,-0.121701133251
+1475057451387653522,0.15,-0.202981323307,0.0,0.0,0.0,0.0397717833519
+1475057451468501625,0.15,0.187847804391,0.0,0.0,0.0,-0.111720335484
+1475057451548557256,0.15,-0.205531662848,0.0,0.0,0.0,0.0501849532127
+1475057451622787139,0.15,-0.105742940839,0.0,0.0,0.0,0.0533853650093
+1475057451700609649,0.15,-0.0813938524785,0.0,0.0,0.0,0.0421568036079
+1475057451781581726,0.15,-0.0861631217325,0.0,0.0,0.0,0.0440961003304
+1475057451862171416,0.15,-0.0611852373114,0.0,0.0,0.0,0.0294791936874
+1475057451940233716,0.15,-0.0787221797395,0.0,0.0,0.0,0.0362092733383
+1475057452019511241,0.15,-0.0718539103065,0.0,0.0,0.0,0.0360196709633
+1475057452098982681,0.15,-0.0577144672525,0.0,0.0,0.0,0.0270861268044
+1475057452175648595,0.15,-0.0969109723055,0.0,0.0,0.0,0.0510730624199
+1475057452252822882,0.15,-0.0577873337997,0.0,0.0,0.0,0.0349572181702
+1475057452332367472,0.15,-0.0632907400178,0.0,0.0,0.0,0.0343002557755
+1475057452416297807,0.15,-0.0749813141225,0.0,0.0,0.0,0.04318754673
+1475057452498671597,0.15,-0.0457104597186,0.0,0.0,0.0,0.0279415726662
+1475057452585364555,0.15,-0.0715144155479,0.0,0.0,0.0,0.0404823303223
+1475057452669082196,0.15,0.120030276877,0.0,0.0,0.0,-0.0775138258934
+1475057452752666597,0.15,-0.1097998014,0.0,0.0,0.0,0.0298028469086
+1475057452842863750,0.15,-0.0628779381494,0.0,0.0,0.0,0.0375363111496
+1475057452922038591,0.15,-0.0445070940547,0.0,0.0,0.0,0.028419482708
+1475057453005217416,0.15,-0.0484240010307,0.0,0.0,0.0,0.0289274334908
+1475057453094791743,0.15,-0.0422962969919,0.0,0.0,0.0,0.0249979376793
+1475057453175424642,0.15,-0.0529258902333,0.0,0.0,0.0,0.0323265075684
+1475057453256781666,0.15,-0.0400847671505,0.0,0.0,0.0,0.0261318564415
+1475057453341229522,0.15,-0.0518666926576,0.0,0.0,0.0,0.0332038283348
+1475057453433371535,0.15,-0.0301975194685,0.0,0.0,0.0,0.0205648422241
+1475057453511032588,0.15,-0.0416798393998,0.0,0.0,0.0,0.0250831723213
+1475057453599180886,0.15,-0.0266808198857,0.0,0.0,0.0,0.0165168523788
+1475057453681264123,0.15,-0.0493008209088,0.0,0.0,0.0,0.0314963936806
+1475057453759432989,0.15,-0.0247521724452,0.0,0.0,0.0,0.0184869647026
+1475057453841882163,0.15,-0.0437903898884,0.0,0.0,0.0,0.029752600193
+1475057453920088569,0.15,-0.0227815612736,0.0,0.0,0.0,0.017136323452
+1475057453998569409,0.15,-0.028659754183,0.0,0.0,0.0,0.0180208563805
+1475057454081671633,0.15,-0.0196766150583,0.0,0.0,0.0,0.0117863297462
+1475057454161112749,0.15,-0.0302490835033,0.0,0.0,0.0,0.018670129776
+1475057454239494702,0.15,-0.0246419730665,0.0,0.0,0.0,0.0171224951744
+1475057454320612510,0.15,-0.0311590639879,0.0,0.0,0.0,0.0226763367653
+1475057454399247210,0.15,-0.0252525733731,0.0,0.0,0.0,0.0197895050049
+1475057454488396088,0.15,-0.0216764354328,0.0,0.0,0.0,0.0162458896637
+1475057454571274878,0.15,-0.0210886940552,0.0,0.0,0.0,0.0148077487946
+1475057454649550750,0.15,-0.0156935303689,0.0,0.0,0.0,0.00995658636093
+1475057454731657301,0.15,-0.0236423984997,0.0,0.0,0.0,0.0158915400505
+1475057454807429664,0.15,-0.0187593057302,0.0,0.0,0.0,0.0136402130127
+1475057454886742934,0.15,-0.0251508550107,0.0,0.0,0.0,0.0198715209961
+1475057454964793018,0.15,-0.00835697970308,0.0,0.0,0.0,0.00568108558655
+1475057455045482454,0.15,-0.0191838845365,0.0,0.0,0.0,0.012069272995
+1475057455129565264,0.15,-0.0208241476927,0.0,0.0,0.0,0.0163043618202
+1475057455212160333,0.15,-0.0188493477343,0.0,0.0,0.0,0.0165484428406
+1475057455293821985,0.15,-0.0139197141938,0.0,0.0,0.0,0.0116483449936
+1475057455370720511,0.15,-0.0183681251667,0.0,0.0,0.0,0.0151049375534
+1475057455450702600,0.15,-0.0141821844275,0.0,0.0,0.0,0.0123094797134
+1475057455531645995,0.15,-0.0143138454684,0.0,0.0,0.0,0.0117307186127
+1475057455609350422,0.15,-0.0162699381289,0.0,0.0,0.0,0.0145265936852
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diff --git a/Files_4_thesis/Different_controllers/vel_PID_.266_.0003_.014_R.txt b/Files_4_thesis/Different_controllers/vel_PID_.266_.0003_.014_R.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5a261971c91c3dc48a5205d5a46478d6927bd4ce
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/vel_PID_.266_.0003_.014_R.txt
@@ -0,0 +1,453 @@
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diff --git a/Files_4_thesis/Different_controllers/vel_PID_.28_0_.006.txt b/Files_4_thesis/Different_controllers/vel_PID_.28_0_.006.txt
new file mode 100644
index 0000000000000000000000000000000000000000..82f7cdc0037d8ed300332b916ba9f53d71056274
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/vel_PID_.28_0_.006.txt
@@ -0,0 +1,307 @@
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diff --git a/Files_4_thesis/Low_Pass_filter_demo.m b/Files_4_thesis/Low_Pass_filter_demo.m
new file mode 100644
index 0000000000000000000000000000000000000000..a2912fe63c9fd34c5e9b7f299c84f2da628748c8
--- /dev/null
+++ b/Files_4_thesis/Low_Pass_filter_demo.m
@@ -0,0 +1,135 @@
+clc;
+clear all;
+close all;
+
+%generate the noisy signal which will be filtered
+x = cos(2*pi*12*[0:0.001:1.23]);
+x(end) = [];
+[b a] = butter(2,[0.6 0.7],'bandpass');
+filtered_noise = filter(b,a,randn(1, length(x)*2));
+x = (x + 0.5*filtered_noise(500:500+length(x)-1))/length(x)*2;
+
+figure;
+plot(x);
+title('Noisy signal');
+xlabel('Samples');
+ylabel('Amplitude');
+
+%plot magnitude spectrum of the signal
+X_mags = abs(fft(x));
+figure;
+plot(X_mags);
+xlabel('DFT Bins');
+ylabel('Magnitude');
+
+%% Filter Design
+
+% second order filter using a butterworth design technique 
+[b a] = butter(2, 0.3, 'low');
+% 20th. order filter using a butterworth design technique
+[b2 a2] = butter(20, 0.3, 'low');
+% band reject filter in place of a low pass filter
+[b_stop a_stop] = butter(20, [0.5 .8], 'stop');
+
+%plot first half of DFT (normalised frequency)
+num_bins = length(X_mags);
+
+figure;
+plot(0:1/(num_bins/2 -1):1, X_mags(1:num_bins/2));
+
+%plot the frequency response (normalised frequency)
+H = freqz(b,a, floor(num_bins/2));
+hold on
+plot(0:1/(num_bins/2 -1):1, abs(H),'r');
+
+%Plot the magnitude spectrum and compare with lower order filter
+H2 = freqz(b2,a2, floor(num_bins/2));
+hold on
+plot(0:1/(num_bins/2 -1):1, abs(H2),'g');
+
+%plot the magnitude spectrum
+H_stopband = freqz(b_stop,a_stop, floor(num_bins/2));
+hold on
+plot(0:1/(num_bins/2 -1):1, abs(H_stopband),'c');
+hold off;
+
+xlabel('Normalised frequency (\pi rads/sample)')
+ylabel('Magnitude')
+legend('first half of DFT','2nd order','20th order','stopband');
+
+%filter the signal using the b and a coefficients obtained from
+%the butter filter design function
+x_filtered = filter(b,a,x);
+%filter the noisy signal and plot the result
+x_filtered_20 = filter(b2,a2,x);
+% filter with band reject
+x_filtered_stop = filter(b_stop,a_stop,x);
+
+%plot the filtered signal
+figure;
+plot(x_filtered,'r');
+hold on;
+plot(x_filtered_20,'g');
+hold on;
+plot(x_filtered_stop,'c');
+hold off;
+
+title('Filtered Signal')
+legend('2nd Order Butterworth','20th Order Butterworth','Stopband');
+
+xlabel('Samples');
+ylabel('Amplitude')
+
+%  
+% %Use matlabs built-in buttord function to get the optimum order to meet a specification
+% [N Wn] = buttord(0.1, 0.5, 5, 40)
+%  
+% %use the N and Wn values obtained above to design the filter in the usual way
+% [b3 a3] = butter(N, Wn, 'low');
+%  
+% %plot the magnitude spectrum
+% H3 = freqz(b3,a3, floor(num_bins/2));
+% figure(10);
+% hold on
+% plot([0:1/(num_bins/2 -1):1], abs(H2),'k');
+% figure;
+%  
+% %filter the signal and plot the ouput of the filter
+% x_filtered3 = filter(b3,a3,x);
+% figure;
+% plot(x_filtered3,'k')
+% title(['Filtered Signal - Using ' num2str(N) ' th Order Butterworth'])
+% xlabel('Samples');
+% ylabel('Amplitude')
+% script available from https://dadorran.wordpress.com
+% comparison with other filter design techniques (chebyshev and elliptical)
+
+[b_butter a_butter] = butter(4, 0.2, 'low');
+H_butter = freqz(b_butter, a_butter);
+ 
+[b_cheby a_cheby] = cheby1(4, 0.5, 0.2, 'low');
+H_cheby = freqz(b_cheby, a_cheby);
+ 
+[b_ellip a_ellip] = ellip(4, 0.5, 40, 0.2, 'low');
+H_ellip = freqz(b_ellip, a_ellip);
+ 
+%plot each filter to compare 
+figure(11)
+norm_freq_axis = [0:1/(512 -1):1];
+plot(norm_freq_axis, abs(H_butter))
+hold on
+plot(norm_freq_axis, abs(H_cheby),'r')
+plot(norm_freq_axis, abs(H_ellip),'g')
+legend('Butterworth', 'Chebyshev', 'Elliptical')
+xlabel('Normalised Frequency');
+ylabel('Magnitude')
+ 
+%plot in dB for verification that spec is met
+figure;
+plot(norm_freq_axis, 20*log10(abs(H_butter)))
+hold on
+plot(norm_freq_axis, 20*log10(abs(H_cheby)),'r')
+plot(norm_freq_axis, 20*log10(abs(H_ellip)),'g')
+legend('Butterworth', 'Chebyshev', 'Elliptical')
+xlabel('Normalised Frequency ');
+ylabel('Magnitude (dB)')
\ No newline at end of file
diff --git a/Files_4_thesis/MSc_Presentation.pptx b/Files_4_thesis/MSc_Presentation.pptx
index f5009240515cc6e4b28de99c077d0ad11c81d3a9..73d1743da559c6d32b2ccd0753e07be532a4d197 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/Practice_low_pass_Filter.m b/Files_4_thesis/Practice_low_pass_Filter.m
new file mode 100644
index 0000000000000000000000000000000000000000..9af653e21b2fdd985eec8727825f73ed07608eb0
--- /dev/null
+++ b/Files_4_thesis/Practice_low_pass_Filter.m
@@ -0,0 +1,112 @@
+clc;
+close all;
+clear all;
+
+%% Generating noisy signal...
+% t = 0:.001:10;
+% data= sind(t*360);
+% noisy_data = data + .1*randn(size(data));
+
+t = 2*pi*12*(0:0.001:1.23);
+noisy_data = cos(t);
+
+% noisy_data(end) = [];
+[b,a] = butter(2,[0.6 0.7],'bandpass');
+
+filtered_noise = filter(b,a,randn(1, length(noisy_data)*2));
+noisy_data = (noisy_data + 0.5*filtered_noise(500:500+length(noisy_data)-1))/length(noisy_data)*2;
+
+figure;
+plot(t,noisy_data,'r');
+% hold on;
+% plot(t,data);
+
+%% Default variables
+
+sample_freq = 1e3;
+cut_off_freq = 10;
+passband_peak_to_peak_db = .5; % 20log10(?) = -.5 => ? = 10^(-.5/20) => ripple 
+stopband_attenuation = 40;
+
+%% Filter Design 
+X_mags = abs(fft(noisy_data));
+figure;
+plot(X_mags)
+xlabel('DFT Bins')
+ylabel('Magnitude');
+
+
+order2 = 2;
+order5 = 5;
+order9 = 9;
+
+[B2,A2] = ellip(order2,passband_peak_to_peak_db,stopband_attenuation,cut_off_freq/(.5*sample_freq),'low');
+[B5,A5] = ellip(order5,passband_peak_to_peak_db,stopband_attenuation,cut_off_freq/(.5*sample_freq),'low');
+[B9,A9] = ellip(order9,passband_peak_to_peak_db,stopband_attenuation,cut_off_freq/(.5*sample_freq),'low');
+
+%plot first half of DFT (normalised frequency)
+num_bins = length(X_mags);
+norm_freq_axis = 0:1/(num_bins -1):1;
+
+figure;
+plot(norm_freq_axis, X_mags(1:num_bins));
+
+%plot the frequency response (normalised frequency)
+H = freqz(B2,A2, floor(num_bins));
+hold on;
+plot(norm_freq_axis, abs(H),'r');
+
+%Plot the magnitude spectrum and compare with higher order filter
+H2 = freqz(B5,A5, floor(num_bins));
+hold on;
+plot(norm_freq_axis, abs(H2),'g');
+% 
+% %plot the magnitude spectrum
+% H_stopband = freqz(b_stop,a_stop, floor(num_bins));
+% hold on;
+% plot(0:1/(num_bins -1):1, abs(H_stopband),'c');
+hold off;
+
+xlabel('Normalised frequency (\pi rads/sample)')
+ylabel('Magnitude')
+legend('DFT','5th order','9th order','stopband');
+
+%plot in dB for verification that spec is met
+figure;
+plot(norm_freq_axis, 20*log10(abs(H2))); %dB
+% 
+% 
+% 
+% hold on
+% plot(norm_freq_axis, 20*log10(abs(H_cheby)),'r')
+% plot(norm_freq_axis, 20*log10(abs(H_ellip)),'g')
+% legend('Butterworth', 'Chebyshev', 'Elliptical')
+xlabel('Normalised Frequency ');
+ylabel('Magnitude (dB)')
+
+% 
+% figure;
+% freqz(B2,A2,5000,sample_freq);
+% hold on
+% freqz(B5,A5,5000,sample_freq);
+% hold on
+% freqz(B9,A9,5000,sample_freq);
+
+
+
+y2 = filter(B2,A2,noisy_data);
+y4 = filter(B5,A5,noisy_data);
+y8 = filter(B9,A9,noisy_data);
+
+figure;
+plot(t,noisy_data,'b');
+hold on;
+plot(t,y2,'g');
+hold on;
+plot(t,y4,'k');
+hold on;
+plot(t,y8,'r');
+hold off;
+legend('Noisy data','2nd order','5th order','9th order');
+
+
diff --git a/Files_4_thesis/x_tANDy_t/CAM_PID_.266_.0003_.014_R.txt b/Files_4_thesis/x_tANDy_t/CAM_PID_.266_.0003_.014_R.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d9eac79a76390eec5241a877672df84a4ab1de3c
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/CAM_PID_.266_.0003_.014_R.txt
@@ -0,0 +1,318 @@
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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
new file mode 100644
index 0000000000000000000000000000000000000000..9bfb01be099a4b3de5415694481c6f84745ca300
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/CAM_PID_.28_0_.006.txt
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diff --git a/Files_4_thesis/x_tANDy_t/Trans_PID_.266_.0003_.014_R.txt b/Files_4_thesis/x_tANDy_t/Trans_PID_.266_.0003_.014_R.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6513df9c554757326597ec2537d1d61a923d3667
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/Trans_PID_.266_.0003_.014_R.txt
@@ -0,0 +1,318 @@
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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
new file mode 100644
index 0000000000000000000000000000000000000000..db0658eafc40f04d5602fb0d0a15c5ae22f81367
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/Trans_PID_.28_0_.006.txt
@@ -0,0 +1,308 @@
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diff --git a/Files_4_thesis/x_tANDy_t/vel_PID_.266_.0003_.014_R.txt b/Files_4_thesis/x_tANDy_t/vel_PID_.266_.0003_.014_R.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc8189f30ee7cff7e972ba7dd17b06391e3c8549
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/vel_PID_.266_.0003_.014_R.txt
@@ -0,0 +1,317 @@
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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
new file mode 100644
index 0000000000000000000000000000000000000000..82f7cdc0037d8ed300332b916ba9f53d71056274
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/vel_PID_.28_0_.006.txt
@@ -0,0 +1,307 @@
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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 f870a86810c9649e8d281babac509197f2814417..bbc9d1662387c2e7d520944038945e1cb8150829 100644
--- a/Files_4_thesis/x_tANDy_t/y_tANDx_t.m
+++ b/Files_4_thesis/x_tANDy_t/y_tANDx_t.m
@@ -13,9 +13,14 @@ clear all;
 
 % 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_.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);
+
 
 % time in position
 TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
@@ -26,6 +31,15 @@ TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to
 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...
 
@@ -38,9 +52,21 @@ 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 /(.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));
@@ -57,34 +83,637 @@ 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 /(.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');
+
+% 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');
+
+% 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));
+
+% 
+% %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]');
+
+%% 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');
 
-%% Plot
 figure;
-plot(t_P_sec_data_4,Theta_data_4,'LineWidth',3);
-hold on
-plot(t_P_sec_data_4,pi/2,'r--','LineWidth',3);
-xlabel('time');
-ylabel('\theta');
+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(t_P_sec_data_4,Pose_Y_data_4,'LineWidth',3);
-xlabel('time');
-ylabel('y');
+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(t_V_sec_data_4,Vel_Y_data_4,'LineWidth',3);
-xlabel('time');
-ylabel('y_{dot}');
+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;
-set(gcf,'color','white');
-plot(Pose_Y_data_4,Pose_X_data_4,'b','LineWidth',2);
-xlabel('Y');
-ylabel('X');
+% 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
+% figure;
+% subplot(3,1,1);
+% plot(t_T_sec_data_4,x_t_4,'LineWidth',1.5);
+% ylabel('z_{t}');
+% title('Transposed Axis');
+% 
+% 
+% subplot(3,1,2);
+% plot(t_T_sec_data_4,y_t_4,'LineWidth',1.5);
+% ylabel('y_{t}');
+% 
+% subplot(3,1,3);
+% plot(t_T_sec_data_4,theta_t_4,'LineWidth',1.5);
+% xlabel('time');
+% ylabel('yaw');
+% 
+% 
+% figure;
+% set(gcf,'color','white');
+% plot(Pose_Y_data_4,Pose_X_data_4,'b','LineWidth',2);
+% xlabel('y_{mar}');
+% ylabel('x_{mar}');
+% 
+% figure;
+% set(gcf,'color','white');
+% plot(y_t_4,x_t_4,'b','LineWidth',2);
+% xlabel('y_t');
+% ylabel('x_t');
+% axis([-.1 .1 .19 1.55]);