Implementing 2DOF controller locally

The detailed procedure to perform a local experiment is explained in Chapter. A summary of the same is provided in section It is same for this section with following changes.

1. Step1: The working directory is 2dof_controller
2. Step2: Same
3. Step3: Same
4. Step4: Same
5. Step5: Load 2DOF controller function by executing command
   exec<space>twodof.sci. Make sure the correct order of control law is choosen in this file as explained in section 6.1.2
6. Step6: Load Xcos code for 2DOF controller using the command
   exec<space>twodof.xcos. In the twodof.xcos Xcos file, change the setpoint to the desired value. Make sure the period of the clock block is the same as the sampling time used for discretisation. The Xcos diagram is shown in figure 6.7.
7. Step7: Same