Comparison of the control structure of lab-scale and full-scale system. The new, enhanced motion capture and image processing algorithms detailed in this paper are located in the feedback loop of the lab-scale system. While the plant and feedback instrumentation differ between setups, the controller does not. The variable, , is a matrix containing four scalars, the x and y pixel coordinates of each set of dots within the image imgj. This is explained in detail in Sec. 3.1.