Add analysis about DC compliance gain

2020-07-06 23:25:41 +02:00
parent eb25db912b
commit 9addb4bbbd
14 changed files with 419 additions and 535 deletions
--- a/matlab/figs/compliance_dc_gain_alpha.pdf
+++ b/matlab/figs/compliance_dc_gain_alpha.pdf
--- a/matlab/figs/compliance_dc_gain_alpha.png
+++ b/matlab/figs/compliance_dc_gain_alpha.png
--- a/matlab/figs/compliance_dc_gain_kp.pdf
+++ b/matlab/figs/compliance_dc_gain_kp.pdf
--- a/matlab/figs/compliance_dc_gain_kp.png
+++ b/matlab/figs/compliance_dc_gain_kp.png
--- a/matlab/figs/compliance_dc_gain_wi.pdf
+++ b/matlab/figs/compliance_dc_gain_wi.pdf
--- a/matlab/figs/compliance_dc_gain_wi.png
+++ b/matlab/figs/compliance_dc_gain_wi.png
--- a/matlab/figs/mod_iff_damping_wi.pdf
+++ b/matlab/figs/mod_iff_damping_wi.pdf
--- a/matlab/figs/mod_iff_damping_wi.png
+++ b/matlab/figs/mod_iff_damping_wi.png
--- a/matlab/figs/opt_damp_alpha.pdf
+++ b/matlab/figs/opt_damp_alpha.pdf
--- a/matlab/figs/opt_damp_alpha.png
+++ b/matlab/figs/opt_damp_alpha.png
--- a/matlab/figs/opt_damp_vs_dc_comp.pdf
+++ b/matlab/figs/opt_damp_vs_dc_comp.pdf
--- a/matlab/figs/opt_damp_vs_dc_comp.png
+++ b/matlab/figs/opt_damp_vs_dc_comp.png
--- a/matlab/index.html
+++ b/matlab/index.html
--- a/matlab/src/computeSimultaneousDamping.m
+++ b/matlab/src/computeSimultaneousDamping.m
@@ -0,0 +1,10 @@
+% Compute Damping
+
+function [xi_min] = computeSimultaneousDamping(g, G, K)
+    [w, xi] = damp(minreal(feedback(G, g*K)));
+    xi_min = 1/min(xi);
+
+    if xi_min < 0
+      xi_min = 1e8;
+    end
+end