PI velocity controllers comparison

The following PI-velocity controllers are compared (different parameterization methods), position control is off for all methods:
<ul>
<li> Damping optimum Groß: kp=212, ki=106</li>
<li> Damping optimum Zirn: kp=229, ki=57</li>
<li> Disturbance optimum: kp=76, ki = 38</li>
<li> Symmetric Optimum: kp=149, ki=310</li>
<li> Extended Symmetric Optimum (Schröder2016, §3.2.2): kp=182.9, ki=46</li>
<li> H_inf: kp=166, ki=69</li>
<li> Loop shaping: kp=180, ki=67</li>
</ul>

The following input signals are split in folders:
<ul>
<li> ForceSweep/ ... sweep on linear direct drive for frequency domain analysis of disturbances</li>
<li> VelocityRamp/ ... jerk limited ramp profile (const. velocity) for time domain analysis</li>
<li> VelSweep/ ... velocity sweep on motor for frequency domain analysis</li>
<li> sweeps_H_inf/ ... multiple motor velocity sweeps at different positions (150 mm, 350 mm, 600 mm 650 mm), directions (positive/negative) and velocities (8 mm/s, 20 mm/s)</li>
</ul>

<p>Please refer to <a href="https://darus.uni-stuttgart.de/file.xhtml?fileId=168723">Readme.md</a> contained in the dataset for more detailed information.</p>

<h5>Abbreviations used in data/metadata:</h5>

<ul>
<li>LDA/LDD ... linear direct drive</li>
<li>KGT/BSC ... ball screw drive</li>
</ul>