Been verified to work only on windows (to work with linux is not sure, sorry...)
The path of the source code from
"C:\Segway Like Machine, Unicycle Ver1.4 from Model-free recursive LQ controller + Open Dynamics Engine + GNU Scientific Library\src\myprog\single wheel model"
Open this folder of "template.vcproj"
Generated in the folder labeled "data" after the execution of simulation data
Please check the other software that can handle the graph "Gnuplot" and more ...

data --+-- state.dat ( state.csv ) As "time[msec], frame angle[rad], frame angular velocity[rad/s], wheel angle[rad], wheel angular velocity[rad/s]" in the file format
       |
       +-- gain.dat ( gain.csv) As "learning length[around], feedback gain G(=k)" in the file format, see also "Classical control, Modern control, LQ optimal control"
       |
       +-- input.dat ( input.csv ) As "time[msec], input value(=motor torque)[N*m]" in the file format

1. Download "Open Dynamics Engine" The file name ode-0.12.tar.bz2

   download from http://sourceforge.net/projects/opende/files/

2. Deployment to the appropriate directory ode-0.12.tar.bz2

   Move directly under the c:\ the ode-0.12 folder after expansion
   Check the c:\ode-0.12

3. Build a library of Open Dynamics Engine

   Start a command line from the Start menu of Windows
   Move the directory by typing the following command:

   cd  c:\ode-0.12\build

   Ensure that the current directory is "c:\ode-0.12\build"
   Then run the following command:

   premake4 --with-demos vs2008

   vs2008 directory is created below "c:\ode-0.12\build" Once you have completed successfully
   Start the Visual C++ 2008 Express Edition
   Please type "Ctrl+Shift+O" and open directory "C:\ode-0.12\build\vs2008"
   Open the "ode.sln" or open the "c:\ode-0.11.1\build\vs2008\ode.sln"
   Select pull-down menu "DebugDoubleDLL" from build target or solution configuration
   Press the F7 key to build the library
   Close of Visual C++ 2008 Express Edition

4. Environment settings for use with "Visual C++ 2008 Express Edition" of "Open Dynamics Engine"

   Start Visual C++ 2008 Express Edition
   Menu -> Tool -> Option

   Open Option Dialog and select VC++ directory

   Project and Solutions -> VC++ directory
   To select the pull-down menu with a title of "project that displays a directory."
   Select "Include files" from the pull-down menu that
   "C:\ode-0.12\include\" to add the path of the include file
   "C:\ode-0.12\lib\DebugDoubleDLL\drawstuffd.dll" and "C:\ode-0.12\lib\DebugDoubleDLL" to "C:\WINDOWS\system32" to copy

   Project and Solutions -> VC++ directory
   To select the pull-down menu with a title of "project that displays a directory."
   Select "Library files" from the pull-down menu that
   "C:\ode-0.12\lib\DebugDoubleDLL" to add the path of the library file

5. Download "GNU Scientific Library" The file name GSL_1.8__LCG_win32_vc71.tar.gz
   
   download from http://service-spi.web.cern.ch/service-spi/external/distribution/GSL_1.8__LCG_win32_vc71.tar.gz

6. Deployment to the appropriate directory GSL_1.8__LCG_win32_vc71.tar.gz

   Move directly under the GSL
   Check the c:\GSL

7. Environment settings for use with "Visual C++ 2008 Express Edition" of "GNU Scientific Library"

   Start Visual C++ 2008 Express Edition
   Menu -> Tool -> Option

   Open Option Dialog and select VC++ directory
   Project and Solutions -> VC++ directory
   To select the pull-down menu with a title of "project that displays a directory."
   Select "Include files" from the pull-down menu that
   "C:\GSL\1.8\win32_vc71\include\" to add the path of the include file
   "C:\GSL\1.8\win32_vc71\lib\gsl.dll" and "C:\GSL\1.8\win32_vc71\lib\gslcblas.dll" to "C:\WINDOWS\system32" to copy

   Project and Solutions -> VC++ directory
   To select the pull-down menu with a title of "project that displays a directory."
   Select "Library files" from the pull-down menu that
   "C:\GSL\1.8\win32_vc71\lib" to add the path of the library file

8. Extract and Open of ""
9. Project Preprocessor Settings in the VC++ of "GNU Scientific Library"



   


   
         