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 # Closed-Loop Koopman Operator Approximation
 
-Companion code for Closed-Loop Koopman Operator Approximation
+This repository contains the companion code for [Closed-Loop Koopman Operator
+Approximation](https://arxiv.org/abs/2303.15318). All the code required to
+generate the paper's plots from raw data is included here.
+
+The regression methods detailed in the paper are implemented in
+`cl_koopman_pipeline.py`, which extends
+[`pykoop`](https://github.com/decarsg/pykoop), the authors' Koopman operator
+identification library.
+
+This software relies on [`doit`](https://pydoit.org/) to automate experiment
+execution and plot generation.
+
+## Requirements
+
+This software is compatible with Linux, macOS, and Windows. It was developed on
+Arch Linux with Python 3.11.6, while the experiments used in the corresponding
+paper were run on Windows 10 with Python 3.10.9. The `pykoop` library supports
+any version of Python above 3.7.12. You can install Python from your package
+manager or from the [official website](https://www.python.org/downloads/).
+
+The performance statistics presented are from the [MOSEK
+solver](https://www.mosek.com/) running with 16 threads on a PC with an Intel
+Core i7-10700K processor and 64 GiB of RAM.
+
+## Installation
+
+To clone the repository, run
+```sh
+$ git clone git@github.com:decargroup/closed_loop_koopman.git
+```
+
+The recommended way to use Python is through a [virtual
+environment](https://docs.python.org/3/library/venv.html). Create a virtual
+environment (in this example, named `venv`) using
+```sh
+$ virtualenv venv
+```
+Activate the virtual environment with[^1]
+```sh
+$ source ./venv/bin/activate
+```
+To use a specific version of Python in the virtual environment, instead use
+```sh
+$ source ./venv/bin/activate --python <PATH_TO_PYTHON_BINARY>
+```
+If the virtual environment is active, its name will appear at the beginning of
+your terminal prompt in parentheses:
+```sh
+(venv) $
+```
+
+To install the required dependencies in the virtual environment, including
+`pykoop`, run
+```sh
+(venv) $ pip install -r ./requirements.txt
+```
+
+The LMI solver used, MOSEK, requires a license to use. You can request personal
+academic license [here](https://www.mosek.com/products/academic-licenses/). You
+will be emailed a license file which must be placed in `~/mosek/mosek.lic`[^2].
+
+[^1]: On Windows, use `> \venv\Scripts\activate`.
+[^2]: On Windows, place the license in `C:\Users\<USER>\mosek\mosek.lic`.
+
+## Usage
+
+To automatically generate all the plots used in the paper, run
+```sh
+(venv) $ doit
+```
+in the repository root. This command will preprocess the raw data located in
+`dataset/`, run all the required experiments, and generate figures, placing
+all the results in a directory called `build/`.
+
+
+To execute just one task and its dependencies, run
+```sh
+(venv) $ doit <TASK_NAME>
+```
+To see a list of all available task names, run
+```sh
+(venv) $ doit list --all
+```
+For example, to generate only the closed-loop prediction error plot, run
+```sh
+(venv) $ doit plot_paper_figures:errors_cl
+```
+
+If you have a pre-built copy of `build/` or other build products, `doit` will
+think they are out-of-date and try to rebuild them. To prevent this, run
+```sh
+(venv) $ doit reset-dep
+```
+after placing the folders in the right locations. This will force `doit` to
+recognize the build products as up-to-date and prevent it from trying to
+re-generate them. This is useful when moving the `build/` directory between
+machines.
+
+## Dataset
+
+The dataset contained in `dataset/` was collected using the [Quanser
+_QUBE-Servo_](https://www.quanser.com/products/qube-servo-2/). Details
+concerning the experimental procedure can be found in the paper. The C source
+code used to run the _QUBE-Servo_ system can be found
+[here](https://github.com/decargroup/quanser_qube).
+
+Each CSV file in `dataset/` contains one experimental episode. The columns are:
+
+| Column | Description |
+| --- | --- |
+| `t` | Timestamp (s) |
+| `target_theta` | Target motor angle (rad) |
+| `target_alpha` | Target pendulum angle (rad) |
+| `theta` | Measured motor angle (rad) |
+| `alpha` | Measured pendulum angle (rad) |
+| `control_output` | Control signal calculated by the controller (V) |
+| `feedforward` | Feedforward signal to be added to `control_output` (V) |
+| `plant_input` | `control_output` summed with `feedforward` (V), saturated
+between -10V and 10V. |
+| `saturation` | Signal indicating if saturation is active. -1 if saturating in
+the negative direction, +1 if saturating in the positive direction. |
+
+## Repository Layout
+
+The files and folders of the repository are described here:
+
+| Path | Description |
+| --- | --- |
+| `build/` | Contains all `doit` outputs, including plots. |
+| `dataset/` | Contains the raw experimental data from the Quanser _QUBE-Servo_ system. |
+| `cl_koopman_pipeline.py` | Contains implementations of algorithms presented in the paper. |
+| `dodo.py` | Describes all of `doit`'s behaviour, like a `Makefile`. Also contains plotting code. |
+| `LICENSE` | Repository license. |
+| `requirements.txt` | Contains required Python packages with versions. |
+| `README.md` | This file! |