Update links from index and publish html files

org/control_hac_lac.org

@@ -77,7 +77,7 @@ It is then compare to the wanted position of the Sample $\bm{r}_\mathcal{X}$ in
     \draw[->] (Kl.south) -- (addF.north);
 
     \draw[->] (subx.east) -- (Kx.west) node[above left]{$\bm{\epsilon}_\mathcal{X}$};
-    \draw[->] (Kx.east) node[above right]{$\bm{\tau}_\mathcal{X}$} -- (addF.west);
+    \draw[->] (Kx.east) node[above right]{$\bm{\tau}^\prime$} -- (addF.west);
     \draw[->] (addF.east) -- (G.west) node[above left]{$\bm{\tau}$};
 
     \draw[->] ($(outputL.east) + (0.4, 0)$)node[branch](L){} |- (subl.east);
@@ -294,6 +294,100 @@ The design of the associated decentralized controller is explained in [[file:con
   K_dvf = -K_dvf*eye(6);
 #+end_src
 
+* Uncertainty Improvements thanks to the LAC control
+#+begin_src matlab
+  K_dvf_backup = K_dvf;
+  initializeController('type', 'hac-dvf');
+#+end_src
+
+#+begin_src matlab
+  masses = [1, 10, 50]; % [kg]
+#+end_src
+
+#+begin_src matlab
+  %% Name of the Simulink File
+  mdl = 'nass_model';
+
+  %% Input/Output definition
+  clear io; io_i = 1;
+  io(io_i) = linio([mdl, '/Controller'],     1, 'input');            io_i = io_i + 1; % Actuator Inputs
+  io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1; % Position Errror
+#+end_src
+
+#+begin_src matlab :exports none
+  Gm = {zeros(length(masses))};
+
+  K_dvf = tf(zeros(6));
+  Kx = tf(zeros(6));
+
+  for i = 1:length(masses)
+    initializeSample('mass', masses(i));
+
+    %% Run the linearization
+    G = linearize(mdl, io, 0);
+    G.InputName  = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
+    G.OutputName = {'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'};
+
+    Gm(i) = {G};
+  end
+#+end_src
+
+#+begin_src matlab :exports none
+  Gm_iff = {zeros(length(masses))};
+
+  K_dvf = K_dvf_backup;
+  Kx = tf(zeros(6));
+
+  for i = 1:length(masses)
+    initializeSample('mass', masses(i));
+
+    %% Run the linearization
+    G = linearize(mdl, io, 0);
+    G.InputName  = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
+    G.OutputName = {'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'};
+
+    Gm_iff(i) = {G};
+  end
+#+end_src
+
+#+begin_src matlab :exports none
+  freqs = logspace(0, 3, 1000);
+
+  figure;
+
+  ax1 = subplot(2, 1, 1);
+  hold on;
+  for i = 1:length(Gm_iff)
+    set(gca,'ColorOrderIndex',i);
+    plot(freqs, abs(squeeze(freqresp(Gm{i}(1, 1), freqs, 'Hz'))), '-');
+    set(gca,'ColorOrderIndex',i);
+    plot(freqs, abs(squeeze(freqresp(Gm_iff{i}(1, 1), freqs, 'Hz'))), '--');
+  end
+  hold off;
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+  ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
+
+  ax2 = subplot(2, 1, 2);
+  hold on;
+  for i = 1:length(Gm_iff)
+    set(gca,'ColorOrderIndex',i);
+    plot(freqs, 180/pi*angle(squeeze(freqresp(Gm{i}(1, 1), freqs, 'Hz'))), '-', ...
+         'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
+    set(gca,'ColorOrderIndex',i);
+    plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_iff{i}(1, 1), freqs, 'Hz'))), '--', ...
+         'HandleVisibility', 'off');
+  end
+  hold off;
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
+  ylim([-180, 180]);
+  yticks([-180, -90, 0, 90, 180]);
+  legend('location', 'southwest');
+
+  linkaxes([ax1,ax2],'x');
+  xlim([freqs(1), freqs(end)]);
+#+end_src
+
 * High Authority Control - $\bm{K}_\mathcal{X}$
 ** Identification of the damped plant
 #+begin_src matlab

org/index.org

@@ -82,12 +82,16 @@ Now that the dynamics of the Model have been tuned and the Disturbances have inc
 
 Tomography experiments are simulated and the results are presented [[./experiments.org][here]].
 
+* Effect of support's compliance uncertainty on the plant ([[file:uncertainty_support.org][link]])
+In this document, is studied how uncertainty on the micro-station compliance will affect the uncertainty of the isolation platform to be designed.
+
 * Active Damping Techniques on the Uni-axial Model ([[./active_damping_uniaxial.org][link]])
 Active damping techniques are applied to the Uniaxial Simscape model.
 
 * Active Damping Techniques on the full Simscape Model ([[file:control_active_damping.org][link]])
 Active damping techniques are applied to the full Simscape model.
 
+* Control of the Nano-Active-Stabilization-System ([[file:control.org][link]])
 * Useful Matlab Functions ([[./functions.org][link]])
 Many matlab functions are shared among all the files of the projects.
 

org/simscape_subsystems.org

@@ -1458,7 +1458,7 @@ The =sample= structure is saved.
 :END:
 #+begin_src matlab
   arguments
-    args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf', 'hac-dvf', 'ref-track-L', 'ref-track-iff-L', 'cascade-hac-lac'})} = 'open-loop'
+    args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf', 'hac-dvf', 'ref-track-L', 'ref-track-iff-L', 'cascade-hac-lac', 'hac-iff'})} = 'open-loop'
   end
 #+end_src
 
@@ -1491,6 +1491,8 @@ First, we initialize the =controller= structure.
       controller.type = 6;
     case 'cascade-hac-lac'
       controller.type = 7;
+    case 'hac-iff'
+      controller.type = 8;
   end
 #+end_src
 

org/uncertainty_support.org

@@ -993,7 +993,7 @@ If a very stiff isolation platform is used, the uncertainty will be high around
 It will then be high around $\omega_0$ and probably be higher than one.
 Thus, if a stiff isolation platform is used, the recommendation is to have the largest possible resonance frequency, as the control bandwidth will be limited by the first resonance of the isolation platform (if not already limited by the resonance of the support).
 
-* Numerical Analysis for the NASS
+* Numerical Analysis for the NASS                                   :noexport:
 <<sec:nass>>
 ** Introduction                                                      :ignore: