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@ -2225,10 +2225,16 @@ We design two controller containing 2 integrators and one lead near the crossove
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[[file:figs/loop_gain_newport.png]]
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** Save
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#+begin_src matlab
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Kn = blkdiag(Knh, Knv);
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Knd = c2d(Kn, 1e-4, 'tustin');
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#+end_src
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The controllers can be downloaded [[./mat/K_newport.mat][here]].
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#+begin_src matlab
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save('mat/K_newport.mat', 'Knh', 'Knv');
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save('mat/K_newport.mat', 'Kn', 'Knd');
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#+end_src
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* Measurement of the non-repeatability
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mat/data_rep_1.mat
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mat/data_rep_1.mat
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@ -90,7 +90,7 @@ ylabel('Distance [m]');
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legend();
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%% Save
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save('mat/data_cal_pd_v.mat', 't', 'Uch', 'Ucv', ...
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save('mat/data_rep_1.mat', 't', 'Uch', 'Ucv', ...
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'Unh', 'Unv', ...
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'Vph', 'Vpv', ...
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'Vch', 'Vcv', ...
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@ -1 +1,2 @@
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Ts = 1e-4; % [s]
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Ts = 1e-4; % [s]
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load('../mat/K_diag.mat', 'Kd');
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