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correct scripts

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This commit is contained in:
Thomas Dehaeze
2025-04-15 10:22:59 +02:00
parent 4572eee193
commit d64c51e4b1
26 changed files with 255 additions and 161 deletions
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24
A1-nass-uniaxial-model/uniaxial_8_payload_dynamics.m
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@@ -324,18 +324,18 @@ G_iff_vc_light_rigid = feedback(G_vc_light_rigid, K_iff_vc, 'name', +1);
G_iff_vc_light_soft = feedback(G_vc_light_soft , K_iff_vc, 'name', +1);
G_iff_vc_light_stiff = feedback(G_vc_light_stiff, K_iff_vc, 'name', +1);
isstable(G_iff_vc_light_rigid)
isstable(G_iff_vc_light_soft)
isstable(G_iff_vc_light_stiff)
if not(isstable(G_iff_vc_light_rigid) && isstable(G_iff_vc_light_soft) &&isstable(G_iff_vc_light_stiff))
warning("One of the damped plant with VC and decentralized IFF is not stable.");
end
% Stiff Nano-Hexapod
G_iff_pz_light_rigid = feedback(G_pz_light_rigid, K_iff_pz, 'name', +1);
G_iff_pz_light_soft = feedback(G_pz_light_soft , K_iff_pz, 'name', +1);
G_iff_pz_light_stiff = feedback(G_pz_light_stiff, K_iff_pz, 'name', +1);
isstable(G_iff_pz_light_rigid)
isstable(G_iff_pz_light_soft)
isstable(G_iff_pz_light_stiff)
if not(isstable(G_iff_pz_light_rigid) && isstable(G_iff_pz_light_soft) && isstable(G_iff_pz_light_stiff))
warning("One of the damped plant with PZ and decentralized IFF is not stable.");
end
%% Compute closed-loop plants and verify stability
% Soft Nano-Hexapod
@@ -343,18 +343,18 @@ G_hac_iff_vc_light_rigid = feedback(G_iff_vc_light_rigid, K_hac_vc, 'name', -1);
G_hac_iff_vc_light_soft = feedback(G_iff_vc_light_soft , K_hac_vc, 'name', -1);
G_hac_iff_vc_light_stiff = feedback(G_iff_vc_light_stiff, K_hac_vc, 'name', -1);
isstable(G_hac_iff_vc_light_rigid)
isstable(G_hac_iff_vc_light_soft)
isstable(G_hac_iff_vc_light_stiff)
if not(isstable(G_hac_iff_vc_light_rigid) && isstable(G_hac_iff_vc_light_soft) && isstable(G_hac_iff_vc_light_stiff))
warning("One of the damped plant with VC and decentralized IFF is not stable.");
end
% Stiff Nano-Hexapod
G_hac_iff_pz_light_rigid = feedback(G_iff_pz_light_rigid, K_hac_pz, 'name', -1);
G_hac_iff_pz_light_soft = feedback(G_iff_pz_light_soft , K_hac_pz, 'name', -1);
G_hac_iff_pz_light_stiff = feedback(G_iff_pz_light_stiff, K_hac_pz, 'name', -1);
isstable(G_hac_iff_pz_light_rigid)
isstable(G_hac_iff_pz_light_soft)
isstable(G_hac_iff_pz_light_stiff)
if not(isstable(G_hac_iff_pz_light_rigid) && isstable(G_hac_iff_pz_light_soft) && isstable(G_hac_iff_pz_light_stiff))
warning("One of the damped plant with PZ and decentralized IFF is not stable.");
end
%% Cumulative Amplitude Spectrum of d - Effect of Sample's flexibility
figure;