RRP Robot control comparison

RRP Robot simulation with 5 different controllers

1. Full Dynamics equations including sensor discretization and flitering
2. Inverse Kinematics for motion planning
3. five different controllers:
   a) inverse dynamics + PD
   b) PD+G
   c) PID
   d) MinMax
   E) Adaptive Control via Slotine&LI
   
4. Detailed report