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za0A?ZjUOOlQ)VY2jh=Rs@#!e~gpmqhmG1P5en0}0F#aE1^b*409uV+d;u3{!fyK%^i2t;c@7thj#+B5%!nry(fK}m^z=+Hn8ylq`!=Y>!$nRdN)oHI*$x?i*4 zqQO|+M&n>U(QAuQ$astCkueDqLb3miR3mkw?v37VFOGcKk@(B*npV#^wHzq&qHZ^R z-Ea3G*HfL|MYU(?%%f5ZX7rTzv0 Rdq050yxhIr8eP#D{{!5aEK&df literal 0 HcmV?d00001 diff --git a/org/control_cascade.org b/org/control_cascade.org index 64eb8f6..57459a9 100644 --- a/org/control_cascade.org +++ b/org/control_cascade.org @@ -606,7 +606,7 @@ As before, we take the minimum realization. Kx = (1/h) * (1 + s/wc*h)/(1 + s/wc/h) * wc/s * (s + 2*pi*5)/s * 1/(1+s/2/pi/20); % Normalization of the gain of have a loop gain of 1 at frequency wc - Kx = -Kx.*diag(1./diag(abs(freqresp(Gx*Kx, wc)))); + Kx = Kx.*diag(1./diag(abs(freqresp(Gx*Kx, wc)))); #+end_src #+begin_src matlab :exports none @@ -656,3 +656,78 @@ And we simulate the system. #+begin_src matlab sim('nass_model'); #+end_src + +#+begin_src matlab + cascade_hac_lac = simout; + save('./mat/cascade_hac_lac.mat', 'cascade_hac_lac'); +#+end_src + +* Results +#+begin_src matlab + load('./mat/experiment_tomography.mat', 'tomo_align_dist'); + load('./mat/cascade_hac_lac.mat', 'cascade_hac_lac'); +#+end_src + +#+begin_src matlab :exports none + figure; + ax1 = subplot(2, 3, 1); + hold on; + plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 1)) + plot(cascade_hac_lac.Em.En.Time, cascade_hac_lac.Em.En.Data(:, 1)) + hold off; + xlabel('Time [s]'); + ylabel('Dx [m]'); + + ax2 = subplot(2, 3, 2); + hold on; + plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 2)) + plot(cascade_hac_lac.Em.En.Time, cascade_hac_lac.Em.En.Data(:, 2)) + hold off; + xlabel('Time [s]'); + ylabel('Dy [m]'); + + ax3 = subplot(2, 3, 3); + hold on; + plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 3)) + plot(cascade_hac_lac.Em.En.Time, cascade_hac_lac.Em.En.Data(:, 3)) + hold off; + xlabel('Time [s]'); + ylabel('Dz [m]'); + + ax4 = subplot(2, 3, 4); + hold on; + plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 4)) + plot(cascade_hac_lac.Em.En.Time, cascade_hac_lac.Em.En.Data(:, 4)) + hold off; + xlabel('Time [s]'); + ylabel('Rx [rad]'); + + ax5 = subplot(2, 3, 5); + hold on; + plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 5)) + plot(cascade_hac_lac.Em.En.Time, cascade_hac_lac.Em.En.Data(:, 5)) + hold off; + xlabel('Time [s]'); + ylabel('Ry [rad]'); + + ax6 = subplot(2, 3, 6); + hold on; + plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 6), 'DisplayName', '$\mu$-Station') + plot(cascade_hac_lac.Em.En.Time, cascade_hac_lac.Em.En.Data(:, 6), 'DisplayName', 'HAC-DVF') + hold off; + xlabel('Time [s]'); + ylabel('Rz [rad]'); + legend(); + + linkaxes([ax1,ax2,ax3,ax4],'x'); + xlim([0.5, inf]); +#+end_src + +#+header: :tangle no :exports results :results none :noweb yes +#+begin_src matlab :var filepath="figs/cascade_hac_lac_tomography.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") +<> +#+end_src + +#+name: fig:cascade_hac_lac_tomography +#+caption: Results of the Tomography Experiment ([[./figs/cascade_hac_lac_tomography.png][png]], [[./figs/cascade_hac_lac_tomography.pdf][pdf]]) +[[file:figs/cascade_hac_lac_tomography.png]]