Interactive notes on control, robotics and the Siemens motion stack.
Single-page simulators and field guides I built while learning these systems. Everything runs in your browser; nothing is stored.
Control & robotics
Control Theory Bench
Live simulations from a second-order plant through PID, feedforward, wind-up and LQR, to the point where MPC takes over.
Reflex & Imagination
Vision-language-action models versus world models — where each closes its loop, with a maze you can block mid-run.
Cheetah Control Stack
The MIT Cheetah locomotion stack — gait scheduling, convex MPC at ~40 Hz, whole-body control at 500 Hz, and the state machine above them.
Siemens motion & automation
Path Motion Control — LKinCtrl V5.3
The S7-1500T kinematics library in which one function block executes a PathData command list, with an editable path lab.
Kinematics Integrator Console — LSKI V4.1
Program tables, interpreter and motion pointers, plugins, and a simulated interpreter driving a Cartesian portal.
Motion Interpreter Lab — V10.0
How an S7-1500T Interpreter program sequences motion without step conditions, with a path simulator and status-word decoder.
Product Register Console — LProdReg V3.2
The product-tracking library — flow objects, one central register, and a live pick-and-place register simulation.
ROXSIE Architecture Lab
A ROS 2 graph and an S7-1500 Software Controller in one box — with a lifetime-buffer simulator and a message-budget calculator.
SIMATIC Target for Simulink
From a Simulink model to ODK code running inside an S7-1500 CPU or on Industrial Edge, with the worked PID example live.
S7-1500T Interpreter Explorer
Explore native SIMATIC Motion Interpreter and LInterpr, with interactive kinematics and command-sequence learning models.
SICAR Architecture Explorer
Explore SICAR software units, operating-mode areas, station interfaces and WinCC Unified, with interactive architecture and diagnostic views.
LLoadBal Learning Lab
An interactive learning model of load balancing between leading and following drives, including torque comparison and speed correction.
The Siemens pages are unofficial reading aids built from publicly available manuals — not Siemens publications — and contain no customer projects or proprietary material. Each opens as its own page; the bar at its top links back here.