Mohammadreza Gilak

Welcome to my personal site, where I write about my projects and share my notes.

“The book of nature is written in the language of mathematics.” — Galileo Galilei

My Projects

• Quadruped Locomotion

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  Model Predictive Control for quadrupedal locomotion.

  
• Contact Detection

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  Contact and collision detection for quadrupedal locomotion gait planning.

  
• Quadrupedal Robots

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  Notes and development updates on the design and control of a quadrupedal robotic platform.

• Quadruped Parameter Identification

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  Notes on quadruped robots' parameter identification.

  
• Inverse Optimal Control Published

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  Notes on our conference paper on inverse optimal control.

• Active Disturbance Rejection Control Open-source

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  A multi-language implementation of active disturbance rejection control.

  

My Notes

• 2026-04-10 • Git

• 2026-04-02 • Geometric Approach to Nonlinear Control

• 2026-04-02 • Change of Coordinates

• 2026-04-02 • Basics of Differential Geometry

• 2026-04-01 • Nonlinear Control

My Open Source Projects

• Model Predictive Control

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  MATLAB codes for a DMC and an EPFC controller.

• Active Disturbance Rejection Control Open-source

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  A multi-language implementation of active disturbance rejection control.

  
• Manipulator Simulation

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  An object-oriented MATLAB implementation of manipulator kinematics, dynamics and control.

  
• Optimal Control

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  MATLAB codes for solving the general nonlinear optimal control problem.