The following web pages detail the electronic circuitry that makes up the controller as well as that work I did in retrofitting it.
A. Original Controller Hardware - This describes the original circuitry built in 1994 by Alex Rokhvarg to have the motion plant properly interface with the original ADA2210 data acquisition board.
B. Hardware Modifications - Here, I detail an electronic circuit I built in order to interface the Adafruit Metro M4 to the motion plant. I also talk about fine-tuning the motion plant.
C. Software Modifications - This is an overview to the changes I made to the controller code so that it will work on the Metro M4.
D. Arduino Issues - This has instructions on how to configure the Arduino IDE in order to have it interface with the Metro M4. It also contains instructions on how to format the Metro M4's flash memory.
E. Software Implementation of Controlling Algorithm - This explains how the Arduino sketch implements the controller's mathematical system model.
F. Saving the Experimental Data - This explains how Matlab is able to receive a data stream from the serial port. It also gives instructions on how to get the data file from the Metro M4's flash memory.