The files rhs.m, mainNavigation.m, and balanceControllerOptimizer.m are particularly important. rhs.m incorperates any sensor error. mainNavigation contains physical parameters about the bicycle. balanceControllerOptimizer uses a grid search to test a matrix of gains. The ranges for each gain, k1, k2, and k3 can be set. balanceControllerOptimizer can be run to make a list of viable gains.
SHOULD LIKEY MERGE WITH MATLAB OPTIMIZATION GITHUB. THE ONLY THING DIFFERENT BETWEEN THESE TWO REPOS SHOULD BE THE GEOMETRIC PARAMETERS OF THE BICYCLE.