34 lines
967 B
Mathematica
34 lines
967 B
Mathematica
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%%
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clear; close all; clc;
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%% Load Controllers
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load('./mat/K_fb.mat', 'K_light_vc', 'K_light_pz', 'K_heavy_vc', 'K_heavy_pz');
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%% Closed Loop - Light Sample
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initializeSample(struct('mass', 1));
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initializeNanoHexapod(struct('actuator', 'lorentz'));
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K = K_light_vc; %#ok
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save('./mat/controller.mat', 'K');
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Gd_cl_light_vc = identifyPlant();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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K = K_light_pz; %#ok
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save('./mat/controller.mat', 'K');
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Gd_cl_light_pz = identifyPlant();
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%% Closed Loop - Heavy Sample
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initializeSample(struct('mass', 50));
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initializeNanoHexapod(struct('actuator', 'lorentz'));
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K = K_heavy_vc; %#ok
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save('./mat/controller.mat', 'K');
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G_cl_heavy_vc = identifyPlant();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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K = K_heavy_pz;
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save('./mat/controller.mat', 'K');
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G_cl_heavy_pz = identifyPlant();
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%% Save the identified transfer functions
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save('./mat/G_cl.mat', 'G_cl_light_vc', 'G_cl_light_pz', 'G_cl_heavy_vc', 'G_cl_heavy_pz');
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