nass-simscape/hac_lac/matlab-old/hac_lac_iff_control.m

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%%
clear; close all; clc;
%% Load Plant
load('./mat/G_iff.mat', 'G_iff_light_vc', 'G_iff_light_pz', 'G_iff_heavy_vc', 'G_iff_heavy_pz');
%%
fs = 10;
K_light_vc_iff = generateDiagPidControl(G_iff_light_vc.G_cart, fs);
K_light_pz_iff = generateDiagPidControl(G_iff_light_pz.G_cart, fs);
K_heavy_vc_iff = generateDiagPidControl(G_iff_heavy_vc.G_cart, fs);
K_heavy_pz_iff = generateDiagPidControl(G_iff_heavy_pz.G_cart, fs);
%% Save the MIMO control
save('./mat/K_fb_iff.mat', 'K_light_vc_iff', 'K_light_pz_iff', 'K_heavy_vc_iff', 'K_heavy_pz_iff');