Here is another video taken during testing. Not much to say really. It has a loop where it goes from 0, 60, -60, 0, 30, -30, 0 degrees in 5 second intervals. As seen in the video it is rock solid! Unfortunately I don't have a video when we are striking it with disturbances but, suffice to say, it handles it without any problems. Some offset can be seen after a few movements, this comes from one engine being a bit broken and thus creating a lot of vibrations. This causes some offset in the filter.
As soon as I know if my article was accepted to ECC -13 I will post more theory on the controller with simulation and experimental results. So stay tuned for more info!
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