35 lines
999 B
Mathematica
35 lines
999 B
Mathematica
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%%
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clear; close all; clc;
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%% Load IFF Controllers
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load('./mat/K_iff_crit.mat', 'K_iff_light_vc', 'K_iff_light_pz', 'K_iff_heavy_vc', 'K_iff_heavy_pz');
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%% Light Sample
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initializeSample(struct('mass', 1));
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initializeNanoHexapod(struct('actuator', 'lorentz'));
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K_iff = K_iff_light_vc; %#ok
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save('./mat/K_iff.mat', 'K_iff');
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G_iff_light_vc = identifyPlant();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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K_iff = K_iff_light_pz; %#ok
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save('./mat/K_iff.mat', 'K_iff');
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G_iff_light_pz = identifyPlant();
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%% Heavy Sample
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initializeSample(struct('mass', 50));
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initializeNanoHexapod(struct('actuator', 'lorentz'));
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K_iff = K_iff_heavy_vc; %#ok
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save('./mat/K_iff.mat', 'K_iff');
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G_iff_heavy_vc = identifyPlant();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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K_iff = K_iff_heavy_pz;
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save('./mat/K_iff.mat', 'K_iff');
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G_iff_heavy_pz = identifyPlant();
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%% Save the obtained transfer functions
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save('./mat/G_iff.mat', 'G_iff_light_vc', 'G_iff_light_pz', 'G_iff_heavy_vc', 'G_iff_heavy_pz');
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