split plot into different files

just to generate nice pictures for the report

+ plus make gifs from animations

plot_all.m

@@ -0,0 +1,66 @@
+clc
+clear all
+close all
+
+disp('Creating figure')
+figure
+disp('Photos will start in 3s')
+pause(3)
+
+PLOT_TESTS = [
+    %"results/straightline/chill/01-Aug-2024 15:34:03";
+    %"results/straightline/chill_errortheta_pisixths/01-Aug-2024 15:56:36";
+    %"results/square/01-Aug-2024 16:18:51";
+    %"results/circle/start_center/01-Aug-2024 16:46:41";
+    %"results/circle/start_tangent/01-Aug-2024 16:55:09";
+    %"results/circle/toofast/01-Aug-2024 17:35:25"
+    %"results/straightline/toofast/01-Aug-2024 15:37:48"
+    %"results/figure8/chill/15-Aug-2024 09:16:21";
+    %"results/figure8/toofast/15-Aug-2024 09:10:32"cd
+    "results/straightline/abrupt_stop_chill/27-Aug-2024 10:27:31";
+    "results/straightline/abrupt_stop_toofast/27-Aug-2024 10:44:35"
+    "results/sin/no_start_error/27-Aug-2024 19:28:17";
+    "results/sin/no_start_error/27-Aug-2024 19:29:42";
+    "results/sin/no_start_error/27-Aug-2024 19:31:17";
+    "results/sin/no_start_error/27-Aug-2024 19:38:03"
+    ]
+
+s_ = size(PLOT_TESTS)
+for i = 1:s_(1)
+    clearvars -except PLOT_TESTS s_ i
+    
+    sPLOT_TEST = convertStringsToChars(PLOT_TESTS(i));
+    PLOT_TEST = [sPLOT_TEST, '/workspace_composite.mat']
+    load(PLOT_TEST)
+
+    dir = ['images/', sPLOT_TEST, '/']
+    mkdir(dir);
+    for n=1:3
+        clf; plot_trajectory(t{n}, ref_t{n}, q{n})
+        export_fig(gcf, '-transparent', [dir, num2str(n), '_trajectory.eps'])
+        %exportgraphics(gcf, [dir, num2str(n), '_trajectory.png'], Resolution=300);
+        %print([dir, num2str(n), '_trajectory.png'], '-dpng')
+        clf; plot_error(t{n}, ref_t{n}, q{n})
+        export_fig(gcf, '-transparent', [dir, num2str(n), '_error.eps'])
+        %print([dir, num2str(n), '_error.png'], '-dpng')
+        %clf; plot_input(t{n}, sim_data{n}.SATURATION, U_track{n}, 'track')
+        %export_fig(gcf, '-transparent', [dir, num2str(n), '_track_input.eps'])
+        %print([dir, num2str(n), '_track_input.png'], '-dpng')
+        %clf; plot_input(t{n}, sim_data{n}.SATURATION, U_corr{n}, 'corr')
+        %export_fig(gcf, '-transparent', [dir, num2str(n), '_corr_input.eps'])
+        %print([dir, num2str(n), '_corr_input.png'], '-dpng')
+        clf; plot_doubleinput(t{n}, sim_data{n}.SATURATION,  U_track{n}, U_corr{n})
+        export_fig(gcf, '-transparent', [dir, num2str(n), '_double_input.eps'])
+        clf; plot_tripleinput(t{n}, sim_data{n}.SATURATION, U{n}, U_track{n}, U_corr{n})
+        export_fig(gcf, '-transparent', [dir, num2str(n), '_triple_input.eps'])
+        %clf; plot_input(t{n},sim_data{n}.SATURATION,  U{n}, '')
+        %export_fig(gcf, '-transparent', [dir, num2str(n), '_total_input.eps'])
+        %print([dir, num2str(n), '_total_input.png'], '-dpng')
+    end
+    clf; plot_input_diff(t{3}, U_corr{3}, U_corr{2},0)
+    export_fig(gcf, '-transparent', [dir, num2str(n), 'corr_input_diff_1x2.eps'])
+    %print([dir, 'corr_input_diff_1x2.png'], '-dpng')
+    clf; plot_input_diff(t{3}, U_corr{3}, U_corr{2},1)
+    export_fig(gcf, '-transparent', [dir, num2str(n), 'corr_input_diff_2x1.eps'])
+    %print([dir, 'corr_input_diff_2x1.png'], '-dpng')
+end

plot_doubleinput.m

@@ -0,0 +1,39 @@
+function plot_doubleinput(t, sat, U_track, U_corr)
+
+tiledlayout(1,1,'Padding','tight', 'TileSpacing','compact')
+nexttile
+
+subplot(2,1,1);
+hold on
+plot(t, U_track(:, 1), 'Linewidth', 5, 'DisplayName', '\omega_r^{track}');
+plot(t, U_corr(:, 1), 'Linewidth', 5, 'DisplayName', '\omega_r^{corr}');
+legend('FontSize', 12, 'Location', 'east', 'AutoUpdate','off')
+plot(t, ones(1,length(t))*sat(1), 'Linewidth', 2.5, 'LineStyle', '--');
+plot(t, -ones(1,length(t))*sat(1), 'Linewidth', 2.5, 'LineStyle', '--');
+xlabel('\textbf{t[s]}', 'FontSize', 18, 'Interpreter','latex');
+hold off
+
+
+Axes = gca;
+Axes.FontSize=18;
+Axes.FontWeight='bold';
+grid minor;
+Axes.PlotBoxAspectRatio = [1 1 1];
+
+subplot(2,1,2);
+hold on
+plot(t, U_track(:, 2), 'Linewidth', 5, 'DisplayName', '\omega_r^{track}');
+plot(t, U_corr(:, 2), 'Linewidth', 5, 'DisplayName', '\omega_r^{corr}');
+legend('FontSize', 12, 'Location', 'east', 'AutoUpdate','off')
+plot(t, ones(1,length(t))*sat(2), 'Linewidth', 2.5, 'LineStyle', '--');
+plot(t, -ones(1,length(t))*sat(2), 'Linewidth', 2.5, 'LineStyle', '--');
+xlabel('\textbf{t[s]}', 'FontSize', 18, 'Interpreter','latex');
+
+Axes = gca;
+Axes.FontSize=18;
+Axes.FontWeight='bold';
+grid minor;
+Axes.PlotBoxAspectRatio = [1 1 1];
+
+hold off
+end

plot_error.m

@@ -0,0 +1,21 @@
+function plot_error(t,ref,x)
+
+    ex = ref(:, 1) - x(:, 1);
+    ey = ref(:, 2) - x(:, 2);
+
+    error_norm = sqrt(ex.*ex + ey.*ey);
+
+
+    plot(t, error_norm, 'Linewidth', 5);
+
+    Axes = gca;
+    Axes.FontSize=18;
+    Axes.FontWeight='bold';
+    Axes.PlotBoxAspectRatio = [1 1 1];
+    grid minor;
+    
+    xlabel("\textbf{t [s]}", FontSize=18, Interpreter="latex")
+    ylabel("\textbf{norm of error [m]}", FontSize=18, Interpreter="latex")
+
+
+end

plot_input.m

@@ -0,0 +1,36 @@
+function plot_input(t, sat, U, type)
+
+tiledlayout(1,1,'Padding','tight', 'TileSpacing','compact')
+nexttile
+
+subplot(2,1,1);
+hold on
+plot(t, U(:, 1), 'Linewidth', 5);
+plot(t, ones(1,length(t))*sat(1), 'Linewidth', 2.5, 'LineStyle', '--');
+plot(t, -ones(1,length(t))*sat(1), 'Linewidth', 2.5, 'LineStyle', '--');
+xlabel('\textbf{t[s]}', 'FontSize', 18, 'Interpreter','latex');
+ylabel(['\textbf{$$w_r^{' type '}$$[rad/s]}'], 'FontSize', 18, 'Interpreter','latex');
+hold off
+
+
+Axes = gca;
+Axes.FontSize=18;
+Axes.FontWeight='bold';
+grid minor;
+Axes.PlotBoxAspectRatio = [1 1 1];
+
+subplot(2,1,2);
+hold on
+plot(t, U(:, 2), 'Linewidth', 5);
+plot(t, ones(1,length(t))*sat(2), 'Linewidth', 2.5, 'LineStyle', '--');
+plot(t, -ones(1,length(t))*sat(2), 'Linewidth', 2.5, 'LineStyle', '--');
+xlabel('\textbf{t[s]}', 'FontSize', 18, 'Interpreter','latex');
+ylabel(['\textbf{$$w_l^{' type '}$$[rad/s]}'], 'FontSize', 18, 'Interpreter','latex');
+hold off
+
+Axes = gca;
+Axes.FontSize=18;
+Axes.FontWeight='bold';
+grid minor;
+Axes.PlotBoxAspectRatio = [1 1 1];
+end

plot_input_diff.m

@@ -0,0 +1,37 @@
+function plot_input(t, U_corr1, U_corr2, type)
+
+tiledlayout(1,1,'Padding','tight', 'TileSpacing','compact')
+nexttile
+
+if type == 0
+subplot(1,2,1);
+else
+subplot(2,1,1);
+end
+plot(t, U_corr1(:, 1) - U_corr2(:,1), 'Linewidth', 5);
+xlabel('\textbf{t[s]}', 'FontSize', 24, 'Interpreter','latex');
+ylabel('\textbf{$$w_r^{corr, multistep}$$} - \textbf{$$w_r^{corr, 1step}$$ [rad/s]}', 'FontSize', 18, 'Interpreter','latex');
+
+
+Axes = gca;
+Axes.FontSize=18;
+Axes.FontWeight='bold';
+grid minor;
+Axes.PlotBoxAspectRatio = [1 1 1];
+
+
+if type == 0
+subplot(1,2,2);
+else
+subplot(2,1,2);
+end
+plot(t, U_corr1(:, 2) - U_corr2(:,2), 'Linewidth', 5);
+xlabel('\textbf{t[s]}', 'FontSize', 24, 'Interpreter','latex');
+ylabel('\textbf{$$w_l^{corr, multistep}$$} - \textbf{$$w_l^{corr, 1step}$$ [rad/s]}', 'FontSize', 18, 'Interpreter','latex');
+
+Axes = gca;
+Axes.FontSize=18;
+Axes.FontWeight='bold';
+grid minor;
+Axes.PlotBoxAspectRatio = [1 1 1];
+end

plot_results.m

@@ -0,0 +1,78 @@
+function plot_results(t, x, ref, U, U_track, U_corr)
+    subplot(4,2,1)
+    hold on
+    title("trajectory / state")
+    plot(ref(:, 1), ref(:, 2), "DisplayName", "Ref")
+    plot(x(:, 1), x(:, 2), "DisplayName", "state")
+    rectangle('Position', [x(1,1)-0.075, x(1,2)-0.075, 0.15, 0.15], 'Curvature', [1,1])
+    xlabel('x')
+    ylabel('y')
+    legend()
+    subplot(4,2,3)
+    plot(t, U(:, 1))
+    xlabel('t')
+    ylabel('input wr')
+    subplot(4,2,4)
+    plot(t, U(:, 2))
+    xlabel('t')
+    ylabel('input wl')
+    hold off
+
+    subplot(4,2,5)
+    plot(t, U_corr(:, 1))
+    xlabel('t')
+    ylabel('correction input wr')
+    subplot(4,2,6)
+    plot(t, U_corr(:, 2))
+    xlabel('t')
+    ylabel('correction input wl')
+    
+    
+    subplot(4,2,7)
+    plot(t, U_track(:, 1))
+    xlabel('t')
+    ylabel('tracking input wr')
+    subplot(4,2,8)
+    plot(t, U_track(:, 2))
+    xlabel('t')
+
+    ylabel('tracking input wl')
+    
+    ex = ref(:, 1) - x(:, 1);
+    ey = ref(:, 2) - x(:, 2);
+    
+    subplot(8,8,5)
+    hold on
+    xlabel('t')
+    ylabel('x')
+    plot(t, ref(:, 1), "DisplayName", "X_{ref}");
+    plot(t, x(:, 1), "DisplayName", "X");
+    legend()
+    hold off
+    
+    subplot(8,8,6)
+    plot(t, ex);
+    xlabel('t')
+    ylabel('x error')
+    
+    subplot(8,8,13)
+    hold on
+    xlabel('t')
+    ylabel('y')
+    plot(t, ref(:, 2), "DisplayName", "Y_{ref}");
+    plot(t, x(:, 2), "DisplayName", "Y");
+    legend()
+    hold off
+    
+    subplot(8,8,14)
+    plot(t, ey);
+    xlabel('t')
+    ylabel('y error')
+
+    subplot(4, 4, 4);
+    error_norm = sqrt(ex.*ex + ey.*ey);
+    plot(t, error_norm );
+    xlabel("t")
+    ylabel("error norm")
+   
+end

plot_results_ext.m

@@ -0,0 +1,62 @@
+
+% Plots
+function plot_results(t, x, ref, U, U_track, U_corr)
+    subplot(4,2,1)
+    plot_results(ref, x)
+    subplot(4,2,3)
+    plot(t, U(:, 1))
+    xlabel('t [s]')
+    ylabel('input w_r [rad/s]')
+    subplot(4,2,4)
+    plot(t, U(:, 2))
+    xlabel('t')
+    ylabel('input w_l [rad/s]')
+    hold off
+
+    
+    
+    subplot(4,2,7)
+    plot(t, U_track(:, 1))
+    xlabel('t [s]')
+    ylabel('tracking input w_r [rad/s]')
+    subplot(4,2,8)
+    plot(t, U_track(:, 2))
+    xlabel('t [s]')
+
+    ylabel('tracking input w_l [rad/s]')
+    
+    ex = ref(:, 1) - x(:, 1);
+    ey = ref(:, 2) - x(:, 2);
+    
+    subplot(8,8,5)
+    hold on
+    xlabel('t [s]')
+    ylabel('x [n]')
+    plot(t, ref(:, 1), "DisplayName", "X_{ref}");
+    plot(t, x(:, 1), "DisplayName", "X");
+    legend()
+    hold off
+    
+    subplot(8,8,6)
+    plot(t, ex);
+    xlabel('t')
+    ylabel('x error')
+    
+    subplot(8,8,13)
+    hold on
+    xlabel('t')
+    ylabel('y')
+    plot(t, ref(:, 2), "DisplayName", "Y_{ref}");
+    plot(t, x(:, 2), "DisplayName", "Y");
+    legend()
+    hold off
+    
+    subplot(8,8,14)
+    plot(t, ey);
+    xlabel('t')
+    ylabel('y error')
+
+    subplot(4, 4, 4);
+    plot_error(t, ref, x)
+   
+end

plot_trajectory.m

@@ -0,0 +1,43 @@
+function tl = plot_trajectory(t, ref, x)
+
+    tl = tiledlayout(1,1,'Padding','tight', 'TileSpacing','compact');
+    nexttile;
+
+    hold on
+    grid minor  
+    label_interval = 1:1200:length(x);
+    labels = strcat(num2str(round(t(label_interval),1)), "s");
+
+    %title("Reference trajectory / Robot position", "FontSize", 18)
+    
+    plot(ref(:, 1), ref(:, 2), "DisplayName", "Reference trajectory", 'Color', 'blue', 'Linewidth', 12);
+    %plot(x(:, 1), x(:, 2), "DisplayName", "Robot position", 'Color', 'green', 'Linewidth', 6);
+    [x_arr, y_arr] = arrowed_line(x(:, 1), x(:, 2), 600, 50, 50);
+    plot(x_arr, y_arr, "DisplayName", "Robot position", 'Color', 'green', 'Linewidth', 4);
+    labelpoints(x(label_interval, 1), x(label_interval, 2), labels, 'N', 0.3, 'FontWeight', 'bold', 'FontSize', 15);
+
+    Axes = gca;
+    Axes.FontSize=18;
+    Axes.FontWeight='bold';
+
+    xlabel('\textbf{x [m]}', 'FontSize', 18, 'Interpreter', 'latex');
+    ylabel('\textbf{y [m]}', 'FontSize', 18, 'Interpreter', 'latex');
+    legend('FontSize', 12, 'Location', 'southeast', 'AutoUpdate','off')
+
+
+    xlim = Axes.XLim;
+    ylim = Axes.YLim;
+    xl = xlim(2) - xlim(1);
+    yl = ylim(2) - ylim(1);
+    rx = 0.02 * abs(xl);
+    ry = 0.02 * abs(yl);
+    rectangle('Position', [x(1,1)-rx, x(1,2)-ry, 2*rx, 2*ry], 'Curvature', [1,1]);
+    Axes.XLim = xlim;
+    Axes.YLim = ylim;
+    Axes.PlotBoxAspectRatio = [1 1 1];
+    Axes.Units='normalized' 
+    Axes.OuterPosition = [0 0 1.25 1.25];
+
+
+    hold off
+end

plot_tripleinput.m

@@ -0,0 +1,41 @@
+function plot_doubleinput(t, sat, U, U_track, U_corr)
+
+tiledlayout(1,1,'Padding','tight', 'TileSpacing','compact')
+nexttile
+
+subplot(2,1,1);
+hold on
+plot(t, U_track(:, 1), 'Linewidth', 5, 'DisplayName', '\omega_r^{track}');
+plot(t, U_corr(:, 1), 'Linewidth', 5, 'DisplayName', '\omega_r^{corr}');
+plot(t, U(:, 1), 'Linewidth', 2.8, 'DisplayName', '\omega_r');
+legend('FontSize', 12, 'Location', 'northeast', 'AutoUpdate','off')
+plot(t, ones(1,length(t))*sat(1), 'Linewidth', 2.5, 'LineStyle', '--');
+plot(t, -ones(1,length(t))*sat(1), 'Linewidth', 2.5, 'LineStyle', '--');
+xlabel('\textbf{t[s]}', 'FontSize', 18, 'Interpreter','latex');
+hold off
+
+
+Axes = gca;
+Axes.FontSize=18;
+Axes.FontWeight='bold';
+grid minor;
+Axes.PlotBoxAspectRatio = [1 1 1];
+
+subplot(2,1,2);
+hold on
+plot(t, U_track(:, 2), 'Linewidth', 5, 'DisplayName', '\omega_r^{track}');
+plot(t, U_corr(:, 2), 'Linewidth', 5, 'DisplayName', '\omega_r^{corr}');
+plot(t, U(:, 2), 'Linewidth', 2.8, 'DisplayName', '\omega_l');
+legend('FontSize', 12, 'Location', 'northeast', 'AutoUpdate','off')
+plot(t, ones(1,length(t))*sat(2), 'Linewidth', 2.5, 'LineStyle', '--');
+plot(t, -ones(1,length(t))*sat(2), 'Linewidth', 2.5, 'LineStyle', '--');
+xlabel('\textbf{t[s]}', 'FontSize', 18, 'Interpreter','latex');
+
+Axes = gca;
+Axes.FontSize=18;
+Axes.FontWeight='bold';
+grid minor;
+Axes.PlotBoxAspectRatio = [1 1 1];
+
+hold off
+end

tesi.m

@@ -3,7 +3,7 @@ clear all
 close all
 
 %TESTS = ["sin_faster", "sin", "circle", "straightline", "reverse_straightline"]
-TESTS = ["straightline/backandforth"]
+TESTS = ["figure8/fancyreps"]
 
 s_ = size(TESTS);
 
@@ -54,6 +54,16 @@ for i = 1:s_(1)
     mkdir(f)
     savefig(h, [f '/figure.fig']);
 
+    h = [h, figure('Name', 'difference between 1step and multistep')]
+    subplot(2,1,1)
+    plot(t{2}, U_corr{2}(:, 1) - U_corr{3}(:, 1))
+    xlabel('t')
+    ylabel('difference on w_r between 1-step and multistep')
+    subplot(2,1,2)
+    plot(t{2}, U_corr{2}(:, 2) - U_corr{3}(:, 2))
+    xlabel('t')
+    ylabel('difference on w_l between 1-step and multistep')
+
     clear h
     dsave([f '/workspace_composite.mat']);
 
@@ -112,83 +122,3 @@ function [t, q, ref_t, U, U_track, U_corr, U_corr_pred_history, Q_pred] = simula
 end
 
 %% 
-
-% Plots
-function plot_results(t, x, ref, U, U_track, U_corr)
-    subplot(4,2,1)
-    hold on
-    title("trajectory / state")
-    plot(ref(:, 1), ref(:, 2), "DisplayName", "Ref")
-    plot(x(:, 1), x(:, 2), "DisplayName", "state")
-    rectangle('Position', [x(1,1)-0.075, x(1,2)-0.075, 0.15, 0.15], 'Curvature', [1,1])
-    xlabel('x')
-    ylabel('y')
-    legend()
-    subplot(4,2,3)
-    plot(t, U(:, 1))
-    xlabel('t')
-    ylabel('input w_r')
-    subplot(4,2,4)
-    plot(t, U(:, 2))
-    xlabel('t')
-    ylabel('input w_l')
-    hold off
-
-    subplot(4,2,5)
-    plot(t, U_corr(:, 1))
-    xlabel('t')
-    ylabel('correction input w_r')
-    subplot(4,2,6)
-    plot(t, U_corr(:, 2))
-    xlabel('t')
-    ylabel('correction input w_l')
-    
-    
-    subplot(4,2,7)
-    plot(t, U_track(:, 1))
-    xlabel('t')
-    ylabel('tracking input w_r')
-    subplot(4,2,8)
-    plot(t, U_track(:, 2))
-    xlabel('t')
-
-    ylabel('tracking input w_l')
-    
-    ex = ref(:, 1) - x(:, 1);
-    ey = ref(:, 2) - x(:, 2);
-    
-    subplot(8,8,5)
-    hold on
-    xlabel('t')
-    ylabel('x')
-    plot(t, ref(:, 1), "DisplayName", "X_{ref}");
-    plot(t, x(:, 1), "DisplayName", "X");
-    legend()
-    hold off
-    
-    subplot(8,8,6)
-    plot(t, ex);
-    xlabel('t')
-    ylabel('x error')
-    
-    subplot(8,8,13)
-    hold on
-    xlabel('t')
-    ylabel('y')
-    plot(t, ref(:, 2), "DisplayName", "Y_{ref}");
-    plot(t, x(:, 2), "DisplayName", "Y");
-    legend()
-    hold off
-    
-    subplot(8,8,14)
-    plot(t, ey);
-    xlabel('t')
-    ylabel('y error')
-
-    subplot(4, 4, 4);
-    error_norm = sqrt(ex.*ex + ey.*ey);
-    plot(t, error_norm );
-    xlabel("t")
-    ylabel("error norm")
-   
-end

tesi_singlethread.m

@@ -1,5 +1,5 @@
 TEST = 'cardioid'
-CONTROLLER = 2
+CONTROLLER = 3
 
 
 sim_data = load(['tests/' TEST '/common.mat']);

video_all.m

@@ -0,0 +1,45 @@
+
+clear all
+
+disp('Waiting 5s')
+pause(1)
+
+PLOT_TESTS = [
+    "results/straightline/chill/01-Aug-2024 15:34:03";
+    "results/straightline/chill_errortheta_pisixths/01-Aug-2024 15:56:36";
+    "results/square/01-Aug-2024 16:18:51";
+    "results/circle/start_center/01-Aug-2024 16:46:41";
+    "results/circle/start_tangent/01-Aug-2024 16:55:09";
+    "results/circle/toofast/01-Aug-2024 17:35:25"
+    "results/straightline/toofast/01-Aug-2024 15:37:48"
+    "results/figure8/chill/15-Aug-2024 09:16:21";
+    "results/figure8/toofast/15-Aug-2024 09:10:32";
+    "results/straightline/abrupt_stop_chill/27-Aug-2024 10:27:31";
+    "results/straightline/abrupt_stop_toofast/27-Aug-2024 10:44:35"
+    "results/cardioid/start_tangent/01-Aug-2024 18:53:41";
+    "results/figure8/fancyreps/09-Aug-2024 13:04:44";
+    "results/sin/no_start_error/27-Aug-2024 19:28:17";
+    "results/sin/no_start_error/27-Aug-2024 19:29:42";
+    "results/sin/no_start_error/27-Aug-2024 19:31:17";
+    "results/sin/no_start_error/27-Aug-2024 19:38:03"
+
+    ]
+
+s_ = size(PLOT_TESTS)
+for i = 1:s_(1)
+    clearvars -except PLOT_TESTS s_ i
+    
+    sPLOT_TEST = convertStringsToChars(PLOT_TESTS(i));
+    PLOT_TEST = [sPLOT_TEST, '/workspace_composite.mat']
+    load(PLOT_TEST)
+
+    dir = ['gifs/', sPLOT_TEST, '/']
+    mkdir(dir);
+
+    close all; pause(2); video(q{1}', ref_t{1}', Q_pred{1}, U_track{1}, U_corr{1}, 0, 0.12, t{1}, 4, sim_data{1}.tc*0.25, "track only");
+    close all; pause(2); video(q{2}', ref_t{2}', Q_pred{2}, U_track{2}, U_corr{2}, 1, 0.12, t{2}, 4, sim_data{2}.tc*0.25, "track and 1-step");
+    close all; pause(2); video(q{3}', ref_t{3}', Q_pred{3}, U_track{3}, U_corr{3}, 3, 0.12, t{3}, 4, sim_data{3}.tc*0.25, "track and multistep");
+    
+    movefile("*.gif", dir);
+
+end