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Update links from index and publish html files

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Thomas Dehaeze
2020-03-25 19:23:22 +01:00
parent ccfe1a3bb8
commit 27f15fdf78
34 changed files with 3135 additions and 484 deletions
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docs/control_cascade.html
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@@ -1,11 +1,10 @@
<?xml version="1.0" encoding="utf-8"?>
<?xml version="1.0" encoding="utf-8"?>
<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-03-23 lun. 10:05 -->
<!-- 2020-03-25 mer. 19:23 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Cascade Control applied on the Simscape Model</title>
@@ -282,14 +281,14 @@ for the JavaScript code in this tag.
<li><a href="#org101bfbc">3. High Authority Control in the joint space - \(\bm{K}_\mathcal{L}\)</a>
<ul>
<li><a href="#org259240d">3.1. Identification of the damped plant</a></li>
<li><a href="#orgb8ba0cc">3.2. Obtained Plant</a></li>
<li><a href="#org878cff7">3.2. Obtained Plant</a></li>
<li><a href="#orgdea5e17">3.3. Controller Design and Loop Gain</a></li>
</ul>
</li>
<li><a href="#org58f9f32">4. Primary Controller in the task space - \(\bm{K}_\mathcal{X}\)</a>
<ul>
<li><a href="#org82ca884">4.1. Identification of the linearized plant</a></li>
<li><a href="#org878cff7">4.2. Obtained Plant</a></li>
<li><a href="#orgb574395">4.2. Obtained Plant</a></li>
<li><a href="#org839cdb3">4.3. Controller Design</a></li>
</ul>
</li>
@@ -518,8 +517,8 @@ isstable(Gl)
</div>
</div>
<div id="outline-container-orgb8ba0cc" class="outline-3">
<h3 id="orgb8ba0cc"><span class="section-number-3">3.2</span> Obtained Plant</h3>
<div id="outline-container-org878cff7" class="outline-3">
<h3 id="org878cff7"><span class="section-number-3">3.2</span> Obtained Plant</h3>
<div class="outline-text-3" id="text-3-2">
<p>
The obtain plant is shown in Figure <a href="#org455eb07">5</a>.
@@ -616,8 +615,8 @@ isstable(Gx)
</div>
</div>
<div id="outline-container-org878cff7" class="outline-3">
<h3 id="org878cff7"><span class="section-number-3">4.2</span> Obtained Plant</h3>
<div id="outline-container-orgb574395" class="outline-3">
<h3 id="orgb574395"><span class="section-number-3">4.2</span> Obtained Plant</h3>
<div class="outline-text-3" id="text-4-2">
<div id="orge364e46" class="figure">
@@ -687,18 +686,47 @@ load(<span class="org-string">'./mat/cascade_hac_lac.mat'</span>, <span class="o
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">n_av = 4;
han_win = hanning(ceil(length(cascade_hac_lac.Em.En.Data(<span class="org-type">:</span>,1))<span class="org-type">/</span>n_av));
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">t = cascade_hac_lac.Em.En.Time;
Ts = t(2)<span class="org-type">-</span>t(1);
[pxx_ol, f] = pwelch(tomo_align_dist.Em.En.Data, han_win, [], [], 1<span class="org-type">/</span>Ts);
[pxx_ca, <span class="org-type">~</span>] = pwelch(cascade_hac_lac.Em.En.Data, han_win, [], [], 1<span class="org-type">/</span>Ts);
</pre>
</div>
<div id="org11aa945" class="figure">
<p><img src="figs/cascade_hac_lac_tomography_psd.png" alt="cascade_hac_lac_tomography_psd.png" />
</p>
<p><span class="figure-number">Figure 9: </span>ASD of the position error (<a href="./figs/cascade_hac_lac_tomography_psd.png">png</a>, <a href="./figs/cascade_hac_lac_tomography_psd.pdf">pdf</a>)</p>
</div>
<div id="org845b982" class="figure">
<p><img src="figs/cascade_hac_lac_tomography_cas.png" alt="cascade_hac_lac_tomography_cas.png" />
</p>
<p><span class="figure-number">Figure 10: </span>Cumulative Amplitude Spectrum of the position error (<a href="./figs/cascade_hac_lac_tomography_cas.png">png</a>, <a href="./figs/cascade_hac_lac_tomography_cas.pdf">pdf</a>)</p>
</div>
<div id="org0151895" class="figure">
<p><img src="figs/cascade_hac_lac_tomography.png" alt="cascade_hac_lac_tomography.png" />
</p>
<p><span class="figure-number">Figure 9: </span>Results of the Tomography Experiment (<a href="./figs/cascade_hac_lac_tomography.png">png</a>, <a href="./figs/cascade_hac_lac_tomography.pdf">pdf</a>)</p>
<p><span class="figure-number">Figure 11: </span>Results of the Tomography Experiment (<a href="./figs/cascade_hac_lac_tomography.png">png</a>, <a href="./figs/cascade_hac_lac_tomography.pdf">pdf</a>)</p>
</div>
</div>
</div>
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-03-23 lun. 10:05</p>
<p class="date">Created: 2020-03-25 mer. 19:23</p>
</div>
</body>
</html>