diff --git a/controls/.gitignore b/controls/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..21229f76b17b687525514038ec23a451ae85a716
--- /dev/null
+++ b/controls/.gitignore
@@ -0,0 +1 @@
+*.asv
\ No newline at end of file
diff --git a/controls/MATLAB/IMU/accelerometer_noise_analysis.m b/controls/MATLAB/IMU/accelerometer_noise_analysis.m
new file mode 100644
index 0000000000000000000000000000000000000000..ee2514e517e516399d7b305eeed170caec4a5f44
--- /dev/null
+++ b/controls/MATLAB/IMU/accelerometer_noise_analysis.m
@@ -0,0 +1,19 @@
+close all; clear all; clc;
+
+filename = 'imu.csv';
+data = load_IMU_data_from_csv( filename ) ;
+
+t = data.t;
+ax = data.ax;
+ay = data.ay;
+az = data.az;
+gx = data.gx;
+gy = data.gy;
+gz = data.gz;
+
+% analyze the noise (deviation from mean) on each axis and compare the
+% emperical distribution to one generated from a quantized Gaussian
+% distrubtuion with the same variance.
+quantized_accel_noise_gauss_anal( ax , 'x-axis')
+quantized_accel_noise_gauss_anal( ay , 'y-axis')
+quantized_accel_noise_gauss_anal( az , 'z-axis')
\ No newline at end of file
diff --git a/controls/MATLAB/IMU/load_IMU_data_from_csv.m b/controls/MATLAB/IMU/load_IMU_data_from_csv.m
new file mode 100644
index 0000000000000000000000000000000000000000..cf6f336adcfcffdf23277da7cc7ebc68e9f10d8d
--- /dev/null
+++ b/controls/MATLAB/IMU/load_IMU_data_from_csv.m
@@ -0,0 +1,55 @@
+function data = load_IMU_data_from_csv( filename )
+% load_IMU_data_from_csv load data from csv file into workspace
+%
+%SYNTAX
+% data = load_IMU_data_from_csv( filename )
+%
+%DESCRIPTION
+% ...to be written...
+%
+%
+%Inputs:
+% filename - string specifying the file
+%
+%Options:
+% none
+%
+%Outputs:
+% data - IMU data loaded into a structure (specify more later)
+%
+%EXAMPLES
+%
+%NOTES
+% This function currently assumes the csv format that was used as of the
+% date: 11/15/2016 (m/d/y)
+%
+%AUTHORS
+% Matt Rich - m87rich@iastate.edu
+%
+%DEVELOPERS
+%
+
+%
+%DEVELOPMENT NOTES
+%
+% dates are in m-d-y format
+%
+% Initial bare bones function.
+% - Matt Rich 11-15-2016
+%
+delimiter = ',';
+formatSpec = '%f%f%f%f%f%f%f%[^\n\r]';
+fileID = fopen(filename,'r');
+dataArray = textscan(fileID, formatSpec, 'Delimiter', delimiter, 'EmptyValue' ,NaN, 'ReturnOnError', false);
+fclose(fileID);
+data.t = dataArray{:, 1};
+data.ax = dataArray{:, 2};
+data.ay = dataArray{:, 3};
+data.az = dataArray{:, 4};
+data.gx = dataArray{:, 5};
+data.gy = dataArray{:, 6};
+data.gz = dataArray{:, 7};
+
+
+end
+
diff --git a/controls/MATLAB/IMU/microcart_imu_analysis_1.m b/controls/MATLAB/IMU/microcart_imu_analysis_1.m
new file mode 100644
index 0000000000000000000000000000000000000000..09315ae94fb91c26c66b80f0296f7c01c9b7a281
--- /dev/null
+++ b/controls/MATLAB/IMU/microcart_imu_analysis_1.m
@@ -0,0 +1,98 @@
+% function microcart_imu_analysis_1
+
+close all; clc;
+filename = 'imu.csv';
+delimiter = ',';
+formatSpec = '%f%f%f%f%f%f%f%[^\n\r]';
+fileID = fopen(filename,'r');
+dataArray = textscan(fileID, formatSpec, 'Delimiter', delimiter, 'EmptyValue' ,NaN, 'ReturnOnError', false);
+fclose(fileID);
+t = dataArray{:, 1};
+ax = dataArray{:, 2};
+ay = dataArray{:, 3};
+az = dataArray{:, 4};
+gx = dataArray{:, 5};
+gy = dataArray{:, 6};
+gz = dataArray{:, 7};
+clearvars filename delimiter formatSpec fileID dataArray ans;
+
+% magnitude of acceleration in gs
+a = ( ax.^2 + ay.^2 + az.^2 ).^0.5 ;
+
+% magnitude of deviation from ideal
+ea1 = 1 - a ;
+
+% magnitude of deviation from mean
+ea2 = a - mean(a) ;
+
+% RMS error
+ea1rms = sqrt(1/length(ea1)*(ea1')*ea1) ;
+ea2rms = sqrt(1/length(ea2)*(ea2')*ea2) ;
+
+subplot(3,1,1);
+plot(t, a , t , ones(length(t),1)); axis([min(t),max(t),min([a;1])-0.01,max([a;1])+0.01]); grid;
+xlabel('Time (s)'); ylabel('Acceleration (gs)');
+legend('Measured','Ideal');
+
+
+subplot(3,1,2);
+plot(t, ea1 ); axis([min(t),max(t),min(ea1)-0.01,max(ea1)+0.01]); grid;
+xlabel('Time (s)'); ylabel('Error From Ideal (gs)');
+
+subplot(3,1,3);
+plot(t, ea2 ); axis([min(t),max(t),min(ea2)-0.01,max(ea2)+0.01]); grid;
+xlabel('Time (s)'); ylabel('Error From Mean (gs)');
+
+%
+figure;
+X = fft(ea2);
+N = length(ea2);
+fs = 1/(t(2)-t(1));
+F = ([-N/2:N/2-1]/N)*fs; %frequency axis for plotting FFTs
+% subplot(2,1,1);
+plot(F,fftshift(abs(X))); grid;
+xlabel('frequency (Hz)');
+ylabel(['|FFT(x)|']);
+% subplot(2,1,2);
+% plot(F,20*log10(fftshift(abs(X)))); grid;
+% xlabel('frequency (Hz)');
+% ylabel('|FFT(x)| dB');
+suptitle('x = Error From Mean (gs)');
+
+
+eax = ax - mean(ax);
+
+vx = var(ax);
+sigmax = sqrt(vx);
+
+figure;
+
+bins = unique(eax) ;
+dbins = bins(2)-bins(1); % the quantization levels consistent
+
+bins_right = bins + dbins/2;
+bins_left = bins - dbins/2;
+cgauss_right = normcdf(bins_right,0,sigmax);
+cgauss_left = normcdf(bins_left,0,sigmax);
+
+empf = length(eax)*(cgauss_right-cgauss_left);
+stairs(bins_left,empf,'r','LineWidth',1) ;
+xlabel('Error From Mean (gs)');
+ylabel('Occurences');
+
+grid;
+hold on;
+h = hist(eax,bins);
+stem(bins,h);
+
+legend(['Quantized Gaussian Noise: N(0,',num2str(vx),')'],'Emperical Distribution')
+
+
+quantized_accel_noise_gauss_anal( ax )
+
+
+
+% end
+
+
+
diff --git a/controls/MATLAB/IMU/quantized_accel_noise_gauss_anal.m b/controls/MATLAB/IMU/quantized_accel_noise_gauss_anal.m
new file mode 100644
index 0000000000000000000000000000000000000000..229a09da924c719d0353479db7e16e227690d50f
--- /dev/null
+++ b/controls/MATLAB/IMU/quantized_accel_noise_gauss_anal.m
@@ -0,0 +1,73 @@
+function varargout = quantized_accel_noise_gauss_anal( a , axis )
+% quantized_accel_noise_gauss_anal analysis for quantized acelerometer data
+%
+%SYNTAX
+% quantized_accel_noise_gauss_anal( a , axis )
+%
+%DESCRIPTION
+% ...to be written...
+%
+%
+%Inputs:
+% a - vector of a single axis accelerometer reading
+% axis - string specifying the axis label
+%
+%Options:
+% none
+%
+%Outputs:
+% none
+%
+%EXAMPLES
+%
+%NOTES
+% This function is only really meaningful for a static (not moving) test.
+%
+%AUTHORS
+% Matt Rich - m87rich@iastate.edu
+%
+%DEVELOPERS
+%
+
+%
+%DEVELOPMENT NOTES
+%
+% dates are in m-d-y format
+%
+% Initial bare bones function.
+% - Matt Rich 11-15-2016
+%
+
+mu = mean(a);
+v = var(a);
+sigma = sqrt(v);
+
+ea = a - mu;
+
+mue = mean(ea); %calculate the mean of the error from mean
+
+
+figure;
+
+bins = unique(ea) ;
+dbins = bins(2)-bins(1); % assuming the quantization levels consistent
+
+bins_right = bins + dbins/2;
+bins_left = bins - dbins/2;
+cgauss_right = normcdf(bins_right,mue,sigma);
+cgauss_left = normcdf(bins_left,mue,sigma);
+
+emp_dist = length(ea)*(cgauss_right-cgauss_left);
+stairs(bins_left,emp_dist,'r','LineWidth',1) ;
+xlabel('Error From Mean (gs)');
+ylabel('Occurences');
+grid;
+hold on;
+h = hist(ea,bins);
+stem(bins,h);
+legend(['Quantized Gaussian Noise: N(',num2str(mue),',',num2str(v),')'],'Emperical Distribution');
+title(['Accelerometer deviation from mean on ',axis]);
+
+
+end
+
diff --git a/controls/dataCollection/imu.csv b/controls/dataCollection/imu.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d6eeebfdb008832f29c72ddfc4f3f27f97949c0
--- /dev/null
+++ b/controls/dataCollection/imu.csv
@@ -0,0 +1,44157 @@
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