Add Projects section with inverted pendulum and real-time interface pages

content/projects/real-time-interface/index.md

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+---
+title: "rtint: Python Interface to Real-Time Targets"
+summary: "A Python package to control and monitor Simulink models running on a real-time target machine, such as a Speedgoat."
+tags: ["Software", "Control"]
+status: "Active"
+date: 2026-10-01
+repo: "https://gitlab.esrf.fr/dehaeze/real-time-interface"
+pypi: "https://pypi.org/project/rtint/"
+---
+<!-- TODO: confirm public URL -->
+
+## Overview
+
+`rtint` is a Python package that talks to Simulink models running on a real-time target machine, through a Resyst server.
+It wraps the server's client API so that the parts of a real-time model (motors, filters, feedback loops, signals and so on) can be used as ordinary Python objects from a script or an interactive session.
+
+It is used at the ESRF to commission and tune mechatronic systems whose control runs on a real-time target.
+For a graphical front end built on top of it, see [rtint-gui]({{< relref "real-time-interface-gui" >}}).
+
+## What it covers
+
+Each part of the real-time model has its own controller object, available as an attribute of the main `RtintController`:
+
+- **Motors**: start, stop, move and read the state.
+- **Regulation**: switch feedback loops on and off.
+- **Filters**: read and change filter parameters, for example low-pass, PID and notch filters, and compute their frequency responses.
+- **Signals and parameters**: read and write model signals and tunable parameters.
+- **Acquisition**: record signals at the model sampling rate.
+- **Signal generators**: sine, chirp and other excitation signals, useful for system identification.
+- **Triggers, lookup tables, EtherCAT slaves and 2D scans.**
+
+Most objects can print a summary table of their state in the terminal.
+
+## Example
+
+```python
+from rtint.rtint_hardware import RtintController
+
+config = {
+    "server": "my-server-hostname",
+    "port": 8080,
+}
+
+controller = RtintController("my_target", config)
+controller._run_model("my_model")
+
+# Access hardware components
+controller.motor.start()
+controller.regul.on()
+controller.filter.low_pass(wn=100, xi=0.707)
+```
+
+## Installation
+
+```bash
+pip install rtint
+```
+
+Python 3.9 to 3.13 is supported.
+The package depends on `resyst-client`, `numpy`, `scipy`, `matplotlib`, `gevent`, `treelib` and `tabulate`.
+A running Resyst server and a real-time model are needed to do anything useful with it.
+
+## Related
+
+- [rtint-gui]({{< relref "real-time-interface-gui" >}}): desktop application built on this package.