merge conflict

index.org

@@ -2225,10 +2225,16 @@ We design two controller containing 2 integrators and one lead near the crossove
 [[file:figs/loop_gain_newport.png]]
 
 ** Save
+#+begin_src matlab
+  Kn = blkdiag(Knh, Knv);
+  Knd = c2d(Kn, 1e-4, 'tustin');
+#+end_src
+
+
 The controllers can be downloaded [[./mat/K_newport.mat][here]].
 
 #+begin_src matlab
-  save('mat/K_newport.mat', 'Knh', 'Knv');
+  save('mat/K_newport.mat', 'Kn', 'Knd');
 #+end_src
 
 * Measurement of the non-repeatability

matlab/run_test.m

@@ -90,7 +90,7 @@ ylabel('Distance [m]');
 legend();
 
 %% Save
-save('mat/data_cal_pd_v.mat', 't', 'Uch', 'Ucv', ...
+save('mat/data_rep_1.mat', 't', 'Uch', 'Ucv', ...
                              'Unh', 'Unv', ...
                              'Vph', 'Vpv', ...
                              'Vch', 'Vcv', ...

matlab/setup.m

@@ -1 +1,2 @@
-Ts = 1e-4; % [s]
+Ts = 1e-4; % [s]
+load('../mat/K_diag.mat', 'Kd');