Mohammadreza Gilak
Welcome to my personal site, where I write about my projects and share my notes.
My Projects
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Quadrupedal Robotics
Notes and development updates on the design and control of a quadrupedal robotic platform.
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Path Planning
An ADRC approach to autonomous vehicles path planning in complex environments.
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Inverse Optimal Control
Published
Notes on our conference paper on Inverse Optimal Control.
My Notes
Open Source Projects
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Model Predictive Control
MATLAB codes for a DMC and an EPFC controller
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Optimal Control
MATLAB codes for solving the general nonlinear optimal control problem
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Active Disturbance Rejection Control
NEW
Simulink and MATLAB implementation of Active Disturbance Rejection Control (ADRC)
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Manipulator Simulation
NEW
An object-oriented MATLAB implementation of manipulator kinematics, dynamics and control
© 2026 Mohammadreza Gilak · Built with Moonwalk