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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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@@ -4,7 +4,7 @@
"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>HAC-LAC applied on the Simscape Model</title>
@@ -278,14 +278,15 @@ for the JavaScript code in this tag.
<li><a href="#orgafbd7d0">2.4. Controller and Loop Gain</a></li>
</ul>
</li>
<li><a href="#orged12a17">3. High Authority Control - \(\bm{K}_\mathcal{X}\)</a>
<li><a href="#org73445c2">3. Uncertainty Improvements thanks to the LAC control</a></li>
<li><a href="#orged12a17">4. High Authority Control - \(\bm{K}_\mathcal{X}\)</a>
<ul>
<li><a href="#orgc22e2f2">3.1. Identification of the damped plant</a></li>
<li><a href="#org6bca8e2">3.2. Controller Design</a></li>
<li><a href="#orgc22e2f2">4.1. Identification of the damped plant</a></li>
<li><a href="#org6bca8e2">4.2. Controller Design</a></li>
</ul>
</li>
<li><a href="#orgb7ffa65">4. Simulation</a></li>
<li><a href="#org448f335">5. Results</a></li>
<li><a href="#orgb7ffa65">5. Simulation</a></li>
<li><a href="#org448f335">6. Results</a></li>
</ul>
</div>
</div>
@@ -426,13 +427,40 @@ G_dvf.OutputName = {<span class="org-string">'Dnlm1'</span>, <span class="org-st
</div>
</div>
<div id="outline-container-orged12a17" class="outline-2">
<h2 id="orged12a17"><span class="section-number-2">3</span> High Authority Control - \(\bm{K}_\mathcal{X}\)</h2>
<div id="outline-container-org73445c2" class="outline-2">
<h2 id="org73445c2"><span class="section-number-2">3</span> Uncertainty Improvements thanks to the LAC control</h2>
<div class="outline-text-2" id="text-3">
<div class="org-src-container">
<pre class="src src-matlab">K_dvf_backup = K_dvf;
initializeController(<span class="org-string">'type'</span>, <span class="org-string">'hac-dvf'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">masses = [1, 10, 50]; <span class="org-comment">% [kg]</span>
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
mdl = <span class="org-string">'nass_model'</span>;
<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
clear io; io_i = 1;
io(io_i) = linio([mdl, <span class="org-string">'/Controller'</span>], 1, <span class="org-string">'input'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Actuator Inputs</span>
io(io_i) = linio([mdl, <span class="org-string">'/Tracking Error'</span>], 1, <span class="org-string">'output'</span>, [], <span class="org-string">'En'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Position Errror</span>
</pre>
</div>
</div>
</div>
<div id="outline-container-orged12a17" class="outline-2">
<h2 id="orged12a17"><span class="section-number-2">4</span> High Authority Control - \(\bm{K}_\mathcal{X}\)</h2>
<div class="outline-text-2" id="text-4">
</div>
<div id="outline-container-orgc22e2f2" class="outline-3">
<h3 id="orgc22e2f2"><span class="section-number-3">3.1</span> Identification of the damped plant</h3>
<div class="outline-text-3" id="text-3-1">
<h3 id="orgc22e2f2"><span class="section-number-3">4.1</span> Identification of the damped plant</h3>
<div class="outline-text-3" id="text-4-1">
<div class="org-src-container">
<pre class="src src-matlab">Kx = tf(zeros(6));
</pre>
@@ -473,8 +501,8 @@ Gx.InputName = {<span class="org-string">'Fx'</span>, <span class="org-string">
</div>
<div id="outline-container-org6bca8e2" class="outline-3">
<h3 id="org6bca8e2"><span class="section-number-3">3.2</span> Controller Design</h3>
<div class="outline-text-3" id="text-3-2">
<h3 id="org6bca8e2"><span class="section-number-3">4.2</span> Controller Design</h3>
<div class="outline-text-3" id="text-4-2">
<p>
The controller consists of:
</p>
@@ -516,8 +544,8 @@ Kx = Kx<span class="org-type">.*</span>diag(1<span class="org-type">./</span>dia
</div>
<div id="outline-container-orgb7ffa65" class="outline-2">
<h2 id="orgb7ffa65"><span class="section-number-2">4</span> Simulation</h2>
<div class="outline-text-2" id="text-4">
<h2 id="orgb7ffa65"><span class="section-number-2">5</span> Simulation</h2>
<div class="outline-text-2" id="text-5">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'mat/conf_simulink.mat'</span>);
<span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simulink</span>, <span class="org-string">'StopTime'</span>, <span class="org-string">'2'</span>);
@@ -541,8 +569,8 @@ save(<span class="org-string">'./mat/tomo_exp_hac_lac.mat'</span>, <span class="
</div>
<div id="outline-container-org448f335" class="outline-2">
<h2 id="org448f335"><span class="section-number-2">5</span> Results</h2>
<div class="outline-text-2" id="text-5">
<h2 id="org448f335"><span class="section-number-2">6</span> Results</h2>
<div class="outline-text-2" id="text-6">
<p>
Let&rsquo;s load the simulation when no control is applied.
</p>
@@ -556,7 +584,7 @@ load(<span class="org-string">'./mat/tomo_exp_hac_lac.mat'</span>, <span class="
</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>