Add Simulink model to include LPF, PLL, and observer

[noguchi-takahiro]

Context

Related Issues / PRs:

• Update simulink to include LPF, PLL, and observer #140
• Update offset section in the encoder article #139
• Revise encoder offset section contents #146

Approach

Create a PR to add Simulink model including LPF, PLL, and observer models.

[noguchi-takahiro]

@mhmokhtarabadi could I quickly look into the Simulink model, focusing on the PLL block, and get your insight during today's lab hour?

[noguchi-takahiro]

Per 12/19:

See Fig. 5: High-Resolution Velocity Estimation for All-Digital, ac Servo Drives.pdf

Here are the notes Tim had for us (from the course) for when we discussed this paper.

@noguchi-takahiro and @mhmokhtarabadi will check these above.

[noguchi-takahiro]

Takahiro is planning to move forward the PLL things during today's lab hour.

[noguchi-takahiro]

Per 1/30, @mhmokhtarabadi and @noguchi-takahiro got together during the lab hour.

@noguchi-takahiro pushed the latest changes in this PR, while @mhmokhtarabadi will make a new branch to compare our approaches here. The key idea here is to make a Simulink model so that users can easily switch the speed estimation method (in either low pass filleter, PLL, or observer). This also need to be consistent with the Lorentz paper that we think it is almost there. We will update this PR and get it ready soon.

[mhmokhtarabadi]

@noguchi-takahiro, this is the branch I created to add my simulations: propose_simulation_structure

[noguchi-takahiro]

Thank you @mhmokhtarabadi. I will compare the Simulink models, during today's lab hour.

[noguchi-takahiro]

We did not have a chance to do this today due to this issue. Let us do this on 2/13.