This repository currently hosts a DoubleLoop PI controller plugin for OpenSim 3.2 and 3.3.
A simple pendulum model is provided as an example in the data folder, together with an XML setup file for the forward OpenSim tool.
Usage:
forward -L DoubleLoopController -S pendulum_DLPI_forward.xml
Please make sure that the DoubleLoopController shared library is in your system's PATH.
Also, please note that the example does not work AS IS in the GUI because of issues in reading files with relative paths in the XML setups.