Controls+pto sim

[jtgrasb]

This PR adds a controls example to demonstrate how controls can be used with PTO-Sim. It demonstrates a reactive (PI) controller with a simplified direct drive PTO model (WEC-Sim PR #1106) consisting of a drivetrain and generator. The corresponding docs can be found in WEC-Sim PR #1108.

[jleonqu]

Hi @jtgrasb
I was checking this PR and everything works well on my end. My only comment is that you mentioned that there is documentation in the WEC-Sim PR #1106 but I couldn't find it. Does this refer to the documentation on the WEC-Sim Webpage?

[jtgrasb]

Hi @jleonqu, sorry for the confusion, the docs are actually in WEC-Sim PR #1108.

[nathanmtom]

@jtgrasb and @jleonqu thank you for pulling together this applications case to illustrate how the controls development can be completed with PTO-Sim. I was able to successfully run the model and reproduce the plots on the Documentation pages under PR#1108.

My request for additions comes from having consistency across applications cases:

1. Please add a README.md file in the applications folder. A good example can be found in WEC-Sim_Applications\WECCCOMP\WECCCOMP_Nonlinear_Model_Predictive\README.md. This gives you credit for building the example, highlight the version the example was built in, and listing steps on how to run the code to reproduce example results. Understand you have the new docs but adding an abbreviated step-by-step will be helpful.
2. Add this case to the TestControls.m found in the Controls folder.
3. Minor comment about the Controls folder, but under hydroData do we need to keep the rm3.out as all examples seem to be using the sphere.out. Second there seems to be an mcrCases.mat in the hydroData folder which seems out of place and each subfolder has an mcrBuild...m file to generate the .mat file to run MCR. Third, in the geometry folder can we delete the float.stl as similar to the hydrodynamics that all examples appear to use sphere and not RM3?

If the above additions and corrections can be implemented then can approve this PR. I will also flag that the free decay test is failing for the latest release, but across all PRs, so should be investigated but should not hold up this PR.

[jtgrasb]

@nathanmtom Thanks for the review. I agree with all of your suggestions and updated accordingly.

[jleonqu]

Everything works well on my end. I was able to run the models and use the application cases.

[nathanmtom]

Thanks for responding to my changes @jtgrasb. I approve this PR now.