Some modification in parameters in v3 model from Friday
New model 4 that does motion control only & updated ControlDesign.m to use that Model.
New model 5 that does motion and force control & updated ControlDesign.m to use that model & added in force control parameters
Added node names and cleaned up scopes on the models & modified the contact position & contact surface stiffness in the ControlDesign.m
Also did some variable renaming & commenting in ControlDesign.m to make it easier to read