The self-balancing MATlab model, and the corresponding secondary linear controller (including floating-point and fixed-point)

ecrobotNXT
..........\docs
..........\....\ECRobot Installation Instructions.pdf
..........\....\Embedded Coder Robot NXT Tips En.pdf
..........\ecrobotnxtsetup.m
..........\environment
..........\...........\@NXT
..........\...........\@nxtusb
..........\...........\.......\close.m
..........\...........\.......\delete.m
..........\...........\.......\display.m
..........\...........\.......\get.m
..........\...........\.......\nxtusb.m
..........\...........\.......\open.m
..........\...........\.......\private
..........\...........\.......\.......\mexusb.mexw32
..........\...........\.......\read.m
..........\...........\.......\set.m
..........\...........\.......\subsasgn.m
..........\...........\.......\subsref.m
..........\...........\.......\write.m
..........\...........\.NXT\@CustomRTWInfo_Parameter
..........\...........\....\........................\CustomRTWInfo_Parameter.p
..........\...........\....\........................\CustomStorageClassListener.p
..........\...........\....\........................\NXT_CustomRTWInfo_Parameter_Constructor.p
..........\...........\....\........................\schema.p
..........\...........\....\@CustomRTWInfo_Signal
..........\...........\....\.....................\CustomRTWInfo_Signal.p
..........\...........\....\.....................\CustomStorageClassListener.p
..........\...........\....\.....................\NXT_CustomRTWInfo_Signal_Constructor.p
..........\...........\....\.....................\schema.p
..........\...........\....\@Signal
..........\...........\....\.......\NXT_Signal_Constructor.p
..........\...........\....\.......\schema.p
..........\...........\....\.......\Signal.p
..........\...........\....\csc_registration.m
..........\...........\....\packagedefn.mat
..........\...........\....\schema.p
..........\...........\....\tlc
..........\...........\....\...\FlatStructure.tlc
..........\...........\....\...\NXTGetSet.tlc
..........\...........\....\...\Unstructured.tlc
..........\...........\@w32serial
..........\...........\..........\display.m
..........\...........\..........\fclose.m
..........\...........\..........\fopen.m
..........\...........\..........\fread.m
..........\...........\..........\fwrite.m
..........\...........\..........\get.m
..........\...........\..........\private
..........\...........\..........\.......\communicate.c
..........\...........\..........\.......\communicate.h
..........\...........\..........\.......\communicate.m
..........\...........\..........\.......\communicate.mexw32
..........\...........\..........\.......\communicate.mexw64
..........\...........\..........\.......\commutil.c
..........\...........\..........\.......\make_mex.m
..........\...........\..........\readme.txt
..........\...........\..........\set.m
..........\...........\..........\subsasgn.m
..........\...........\..........\subsref.m
..........\...........\..........\w32serial.m
..........\...........\AnalogGamePad.jpg
..........\...........\BATTERY_VOLTAGE.gif
..........\...........\BEEP.JPG
..........\...........\BLUETOOTH.jpg
..........\...........\clearNXTSignalObjects.m
..........\...........\ColorSensor.jpeg
..........\...........\createNXTSignalObject.m
..........\...........\cs9694.jpg
..........\...........\ecrobot_nxt_lib.mdl
..........\...........\ENTER_BUTTON.JPG
..........\...........\HiTechnicSensor.jpg
..........\...........\InitAccessorBlock.m
..........\...........\InitDeviceSFunBlock.m
..........\...........\InitInterfaceBlock.m
..........\...........\joystick_ctrl.JPG
..........\...........\LIGHT_SENSOR.gif
..........\...........\make_mex.m
..........\...........\mtlb.wav
..........\...........\nxtbuild.m
..........\...........\nxtconfig.m
..........\...........\nxtlcd.JPG
..........\...........\nxtOSEK
..........\...........\.......\bin
..........\...........\.......\...\appflash
..........\...........\.......\...\appflash.exe
..........\...........\.......\...\fwexec
..........\...........\.......\...\fwflash
..........\...........\.......\...\ramboot.exe
..........\...........\.......\c++
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