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

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

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+---
+title: "rtint-gui: Desktop GUI for Real-Time Control"
+summary: "A desktop application to acquire signals, identify plant dynamics and design feedback control on a real-time target."
+tags: ["Software", "Control"]
+status: "Active"
+date: 2026-09-01
+repo: "https://gitlab.esrf.fr/dehaeze/real-time-interface-gui"
+docs: "https://dehaeze.gitlab-pages.esrf.fr/real-time-interface-gui/"
+pypi: "https://pypi.org/project/rtint-gui/"
+---
+<!-- TODO: confirm public URL -->
+<!-- TODO: add GUI screenshots (e.g. Signal Analysis, Dynamical Identification, Feedback Control Design) -->
+
+## Overview
+
+`rtint-gui` is a desktop application for working with a real-time target that runs a Resyst server.
+It is built on top of [rtint]({{< relref "real-time-interface" >}}), which handles the communication with the target, and follows the usual steps of a control task:
+
+1. **Connect** to a running server.
+2. **Acquire** signals from the target.
+3. **Analyse** the records as time traces and spectra (PSD / ASD).
+4. **Identify** the plant dynamics by measuring frequency responses.
+5. **Design** feedback control from the identified dynamics.
+
+Each step is a page of the application.
+
+## Pages
+
+- **Signal Analysis**: choose counters and model signals, set a duration, watch the acquisition live, then compute power spectra with configurable window, overlap and averaging.
+- **Dynamical Identification**: excite the plant with a generator and estimate its frequency response (Bode plot, coherence, and an RGA plot for multi-input multi-output systems). Open-loop and closed-loop identification are supported.
+- **Transfer Function Analysis**: overlay measured responses with the Bode plots of the filters running on the target, and with their products.
+- **Feedback Control Design**: from an identified plant and the filters used as controller, compute characteristic loci, sensitivity and complementary sensitivity, the modulus margin and a Nyquist stability verdict.
+- **Filters, motors, EtherCAT, parameters and more**: inspect and edit what the real-time model exposes.
+
+Results are saved as MATLAB `.mat` files, so they can be reopened in MATLAB or Python.
+The analysis pages also work offline on previously saved data, without a target.
+
+## Installation
+
+```bash
+pipx install rtint-gui     # or: uv tool install rtint-gui
+rtint-gui
+```
+
+Python 3.12 or 3.13 is required.
+The interface uses PySide6 and pyqtgraph.
+Running `rtint-gui --offline` starts it without a real-time target.
+
+The [documentation](https://dehaeze.gitlab-pages.esrf.fr/real-time-interface-gui/) has a guide for each page and a description of the `.mat` file format.
+
+## Related
+
+- [rtint]({{< relref "real-time-interface" >}}): the Python package this application is built on.