Experiments
1. Reward Bands : Figure 1
	a) PG4PI_reward_band.py
		i) For lah environment : Set flag lah = 1, rea =0; Uncomment from `'start lah' to 'end lah'` AND Comment from `'start rea' to 'end rea'`
		ii) For rea environment : Set flag lah = 0, rea =1; Uncomment from `'start rea' to 'end rea'` AND Comment from `'start lah' to 'end lah'`
	b) PG4PID_reward_band.py
		i) For lah environment : Set flag lah = 1, rea =0; Uncomment from `'start lah' to 'end lah'` AND Comment from `'start rea' to 'end rea'`
		ii) For rea environment : Set flag lah = 0, rea =1; Uncomment from `'start rea' to 'end rea'` AND Comment from `'start lah' to 'end lah'`
        c) PG4PI_vs_PG4PID.py
                i) For lah environment : Uncomment from `'start lah' to 'end lah'` AND Comment from `'start rea' to 'end rea'` for loading 
			'mdl_bld_lah.npy and mdl_free_lah.npy' AND lah related plotting
		ii) For rea environment : Uncomment from `'start rea' to 'end rea'` AND Comment from `'start lah' to 'end lah'` for loading 
			'mdl_bld_rea.npy and mdl_free_rea.npy' AND rea related plotting
	c) In 'ppo-benchmark folder', Run trial-stat-run.py
	
2. 	Tracking (Error) Performance and State Trajectories: Figures 2 and 3
	a) PG4PI.py
		i) For lah environment : Set flag lah = 1, rea =0; Uncomment from `'start lah' to 'end lah'` AND Comment from `'start rea' to 'end rea'`
		ii) For rea environment : Set flag lah = 0, rea =1; Uncomment from `'start rea' to 'end rea'` AND Comment from `'start lah' to 'end lah'`
	b) PG4PID.py
		i) For lah environment : Set flag lah = 1, rea =0; Uncomment from `'start lah' to 'end lah'` AND Comment from `'start rea' to 'end rea'`
		ii) For rea environment : Set flag lah = 0, rea =1; Uncomment from `'start rea' to 'end rea'` AND Comment from `'start lah' to 'end lah'`
		
3. 	Ablation Studies: Figure 4
	a) Small Variances - Run PG4PI_ablation_small_variance.py
		i) For lah environment : Set flag lah = 1, rea =0; Uncomment from `'start lah' to 'end lah'` AND Comment from `'start rea' to 'end rea'`
		ii) For rea environment : Set flag lah = 0, rea =1; Uncomment from `'start rea' to 'end rea'` AND Comment from `'start lah' to 'end lah'`
	b) Large Variances - Run PG4PI_ablation_large_variance.py
		i) For lah environment : Set flag lah = 1, rea =0; Uncomment from `'start lah' to 'end lah'` AND Comment from `'start rea' to 'end rea'`
		ii) For rea environment : Set flag lah = 0, rea =1; Uncomment from `'start rea' to 'end rea'` AND Comment from `'start lah' to 'end lah'`
		
4.  Model Free Policy Gradient LQR vs. PG4PI: Figure 5
	a) Run Model_free_LQR_vs_PG4PI.py
		i) For lah environment : Set flag lah = 1, rea =0; Uncomment from `'start lah' to 'end lah'` AND Comment from `'start rea' to 'end rea'`
		ii) For rea environment : Set flag lah = 0, rea =1; Uncomment from `'start rea' to 'end rea'` AND Comment from `'start lah' to 'end lah'`

5.  Fragility of LQR vs PG4PI: Figure 6
	a) LQR Fragility - Run LQR_fragility.py
	b) PG4PI Fragility - Run PID_fragility.py
	