Best Sunday TV: Robin Williams – Come Inside My Mind; Poldark | Television and radio

Robin Williams: Come into my mind

9pm, Sky Atlantic

Whatever you think of Robin Williams 'more mauve cinematic release, his comedic talent of an incredible velocity, like the l'. amply attest to this HBO documentary. Here, Williams appears as a man who did not really feel comfortable onstage – despite his drug and alcohol use, he loved nothing more than laughing. Steve Martin, Billy Crystal, Pam Dawber and Williams' son, Zak, are among those who tell of his extraordinary life and tragic death. David Stubbs

In Search of Shergar

8:00 pm, BBC Two

For years, people have speculated about the fate of the horse race kidnapped at an Irish stud by an armed gang in 1983. As Alison Millar looks for The Truth Surrounding Shergar, IRA veterans emerge from the shadows with dark stories of hooded dudes and a paramilitary operation that has gone horribly wrong. Mike Bradley

Poldark

9pm, BBC One

Farewell, then, Ross, with your so shimmering and so personal chest so stony life. At the end of the fourth series, he is reunited with Demelza, but can he repair their relationship? Elizabeth tries her best to convince George that the baby belongs to her, but when she puts her hand on a tonic inducing work, she puts her life in danger. Hannah Verdier

Trips to Trumpland with Ed Balls

9pm, BBC Two

It's good to see the former Balls deputy engage his brain instead of his dancing shoes. Here, he embarks on a three-part journey into the deep south of the United States to discover what Trump's popularity tells us about current American values. Cue rednecks, wrestlers, and perceptive badysis of the perils of the mentality of the nationalist crowd. MB

The Tale of the Maid

21h, Channel 4

Was last week's carnival of misery just as bad as this season? Think again. The almost silent episode of tonight is almost grueling, as a heavily pregnant offred has to deal with being left alone in the snowy trash. If nothing else, it's a chance for Elisabeth Moss to claim another Emmy. Gwilym Mumford

The Football Club: Artist in Residence

22:05, Channel 4

Tai-Shan Schierenberg is known for his majestic portraits of Seamus Heaney and the Queen. But everything changes, as he turns to football, joining West Bromwich Albion FC as an artist-in-residence, immortalizing fans and players during one of Baggy's most hectic seasons. MB

Selection of the film

Jones Free State, 22:00, BBC Two
Matthew McConaughey is moved and convincing as a Confederate soldier who rebels against the senseless violence of the American Civil War by gathering deserters and runaway slaves in the free state of Jones County, Mississippi. Gugu Mbatha-Raw is the slave who becomes his common-law wife in the evocation of real events by Gary Ross. Paul Howlett

The best live sport of today

Motor Racing: Grand Prix of Hungary, 20:15, Sky Sports F1

Cover of the Hungaroring.

Cycling: Tour de France, 15h, ITV

The last stage of the prestigious race. The RideLondon one day race is broadcast on BBC One at 3:50 pm.

Darts: World Matchplay, 7:15 pm, Sky Sports Main Event

The Blackpool Winter Gardens host the tournament finals.