Removed unused hac-lac folder
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d623c776ee
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<?xml version="1.0" encoding="utf-8"?>
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2019-10-08 mar. 11:13 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<meta name="viewport" content="width=device-width, initial-scale=1" />
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<title>HAC-LAC</title>
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<meta name="generator" content="Org mode" />
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<meta name="author" content="Dehaeze Thomas" />
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<style type="text/css">
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<!--/*--><![CDATA[/*><!--*/
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.title { text-align: center;
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margin-bottom: .2em; }
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.subtitle { text-align: center;
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font-size: medium;
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font-weight: bold;
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margin-top:0; }
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.todo { font-family: monospace; color: red; }
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.done { font-family: monospace; color: green; }
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.priority { font-family: monospace; color: orange; }
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.tag { background-color: #eee; font-family: monospace;
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padding: 2px; font-size: 80%; font-weight: normal; }
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.timestamp { color: #bebebe; }
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.timestamp-kwd { color: #5f9ea0; }
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.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
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.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
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.org-center { margin-left: auto; margin-right: auto; text-align: center; }
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.underline { text-decoration: underline; }
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#postamble p, #preamble p { font-size: 90%; margin: .2em; }
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p.verse { margin-left: 3%; }
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pre {
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border: 1px solid #ccc;
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box-shadow: 3px 3px 3px #eee;
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padding: 8pt;
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font-family: monospace;
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overflow: auto;
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margin: 1.2em;
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}
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pre.src {
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position: relative;
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overflow: visible;
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padding-top: 1.2em;
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}
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pre.src:before {
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display: none;
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position: absolute;
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background-color: white;
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top: -10px;
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right: 10px;
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padding: 3px;
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border: 1px solid black;
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}
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pre.src:hover:before { display: inline;}
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/* Languages per Org manual */
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pre.src-asymptote:before { content: 'Asymptote'; }
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pre.src-awk:before { content: 'Awk'; }
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pre.src-C:before { content: 'C'; }
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/* pre.src-C++ doesn't work in CSS */
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pre.src-clojure:before { content: 'Clojure'; }
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pre.src-css:before { content: 'CSS'; }
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pre.src-D:before { content: 'D'; }
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pre.src-ditaa:before { content: 'ditaa'; }
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pre.src-dot:before { content: 'Graphviz'; }
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pre.src-calc:before { content: 'Emacs Calc'; }
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pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
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pre.src-fortran:before { content: 'Fortran'; }
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pre.src-gnuplot:before { content: 'gnuplot'; }
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pre.src-haskell:before { content: 'Haskell'; }
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pre.src-hledger:before { content: 'hledger'; }
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pre.src-java:before { content: 'Java'; }
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pre.src-js:before { content: 'Javascript'; }
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pre.src-latex:before { content: 'LaTeX'; }
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pre.src-ledger:before { content: 'Ledger'; }
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pre.src-lisp:before { content: 'Lisp'; }
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pre.src-lilypond:before { content: 'Lilypond'; }
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pre.src-lua:before { content: 'Lua'; }
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pre.src-matlab:before { content: 'MATLAB'; }
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pre.src-mscgen:before { content: 'Mscgen'; }
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pre.src-ocaml:before { content: 'Objective Caml'; }
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pre.src-octave:before { content: 'Octave'; }
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pre.src-org:before { content: 'Org mode'; }
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pre.src-oz:before { content: 'OZ'; }
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pre.src-plantuml:before { content: 'Plantuml'; }
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pre.src-processing:before { content: 'Processing.js'; }
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pre.src-python:before { content: 'Python'; }
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pre.src-R:before { content: 'R'; }
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pre.src-ruby:before { content: 'Ruby'; }
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pre.src-sass:before { content: 'Sass'; }
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pre.src-scheme:before { content: 'Scheme'; }
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pre.src-screen:before { content: 'Gnu Screen'; }
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pre.src-sed:before { content: 'Sed'; }
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pre.src-sh:before { content: 'shell'; }
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pre.src-sql:before { content: 'SQL'; }
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pre.src-sqlite:before { content: 'SQLite'; }
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/* additional languages in org.el's org-babel-load-languages alist */
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pre.src-forth:before { content: 'Forth'; }
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pre.src-io:before { content: 'IO'; }
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pre.src-J:before { content: 'J'; }
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pre.src-makefile:before { content: 'Makefile'; }
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pre.src-maxima:before { content: 'Maxima'; }
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pre.src-perl:before { content: 'Perl'; }
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pre.src-picolisp:before { content: 'Pico Lisp'; }
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pre.src-scala:before { content: 'Scala'; }
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pre.src-shell:before { content: 'Shell Script'; }
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pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
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/* additional language identifiers per "defun org-babel-execute"
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in ob-*.el */
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pre.src-cpp:before { content: 'C++'; }
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pre.src-abc:before { content: 'ABC'; }
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pre.src-coq:before { content: 'Coq'; }
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pre.src-groovy:before { content: 'Groovy'; }
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/* additional language identifiers from org-babel-shell-names in
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ob-shell.el: ob-shell is the only babel language using a lambda to put
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the execution function name together. */
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pre.src-bash:before { content: 'bash'; }
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pre.src-csh:before { content: 'csh'; }
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pre.src-ash:before { content: 'ash'; }
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pre.src-dash:before { content: 'dash'; }
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pre.src-ksh:before { content: 'ksh'; }
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pre.src-mksh:before { content: 'mksh'; }
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pre.src-posh:before { content: 'posh'; }
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/* Additional Emacs modes also supported by the LaTeX listings package */
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pre.src-ada:before { content: 'Ada'; }
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pre.src-asm:before { content: 'Assembler'; }
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pre.src-caml:before { content: 'Caml'; }
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pre.src-delphi:before { content: 'Delphi'; }
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pre.src-html:before { content: 'HTML'; }
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pre.src-idl:before { content: 'IDL'; }
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pre.src-mercury:before { content: 'Mercury'; }
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pre.src-metapost:before { content: 'MetaPost'; }
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pre.src-modula-2:before { content: 'Modula-2'; }
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pre.src-pascal:before { content: 'Pascal'; }
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pre.src-ps:before { content: 'PostScript'; }
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pre.src-prolog:before { content: 'Prolog'; }
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pre.src-simula:before { content: 'Simula'; }
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pre.src-tcl:before { content: 'tcl'; }
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pre.src-tex:before { content: 'TeX'; }
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pre.src-plain-tex:before { content: 'Plain TeX'; }
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pre.src-verilog:before { content: 'Verilog'; }
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pre.src-vhdl:before { content: 'VHDL'; }
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pre.src-xml:before { content: 'XML'; }
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pre.src-nxml:before { content: 'XML'; }
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/* add a generic configuration mode; LaTeX export needs an additional
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(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
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pre.src-conf:before { content: 'Configuration File'; }
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table { border-collapse:collapse; }
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caption.t-above { caption-side: top; }
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caption.t-bottom { caption-side: bottom; }
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td, th { vertical-align:top; }
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th.org-right { text-align: center; }
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th.org-left { text-align: center; }
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th.org-center { text-align: center; }
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td.org-right { text-align: right; }
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td.org-left { text-align: left; }
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td.org-center { text-align: center; }
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dt { font-weight: bold; }
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.footpara { display: inline; }
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.footdef { margin-bottom: 1em; }
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.figure { padding: 1em; }
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.figure p { text-align: center; }
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.equation-container {
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display: table;
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text-align: center;
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width: 100%;
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}
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.equation {
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vertical-align: middle;
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}
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.equation-label {
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display: table-cell;
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text-align: right;
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vertical-align: middle;
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}
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.inlinetask {
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padding: 10px;
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border: 2px solid gray;
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margin: 10px;
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background: #ffffcc;
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}
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#org-div-home-and-up
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{ text-align: right; font-size: 70%; white-space: nowrap; }
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textarea { overflow-x: auto; }
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.linenr { font-size: smaller }
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.code-highlighted { background-color: #ffff00; }
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.org-info-js_info-navigation { border-style: none; }
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#org-info-js_console-label
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{ font-size: 10px; font-weight: bold; white-space: nowrap; }
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.org-info-js_search-highlight
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{ background-color: #ffff00; color: #000000; font-weight: bold; }
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.org-svg { width: 90%; }
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/*]]>*/-->
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</style>
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<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
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<link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
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<link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
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<script type="text/javascript" src="../js/jquery.min.js"></script>
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<script type="text/javascript" src="../js/bootstrap.min.js"></script>
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<script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
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<script type="text/javascript" src="../js/readtheorg.js"></script>
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<script type="text/javascript">
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/*
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@licstart The following is the entire license notice for the
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JavaScript code in this tag.
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Copyright (C) 2012-2019 Free Software Foundation, Inc.
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The JavaScript code in this tag is free software: you can
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redistribute it and/or modify it under the terms of the GNU
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General Public License (GNU GPL) as published by the Free Software
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Foundation, either version 3 of the License, or (at your option)
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any later version. The code is distributed WITHOUT ANY WARRANTY;
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without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
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As additional permission under GNU GPL version 3 section 7, you
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may distribute non-source (e.g., minimized or compacted) forms of
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that code without the copy of the GNU GPL normally required by
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section 4, provided you include this license notice and a URL
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through which recipients can access the Corresponding Source.
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@licend The above is the entire license notice
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for the JavaScript code in this tag.
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*/
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<!--/*--><![CDATA[/*><!--*/
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function CodeHighlightOn(elem, id)
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{
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var target = document.getElementById(id);
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if(null != target) {
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elem.cacheClassElem = elem.className;
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elem.cacheClassTarget = target.className;
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target.className = "code-highlighted";
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elem.className = "code-highlighted";
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}
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}
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function CodeHighlightOff(elem, id)
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{
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var target = document.getElementById(id);
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if(elem.cacheClassElem)
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elem.className = elem.cacheClassElem;
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if(elem.cacheClassTarget)
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target.className = elem.cacheClassTarget;
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}
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/*]]>*///-->
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</script>
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</head>
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<body>
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<div id="org-div-home-and-up">
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<a accesskey="h" href="../index.html"> UP </a>
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<a accesskey="H" href="../index.html"> HOME </a>
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</div><div id="content">
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<h1 class="title">HAC-LAC</h1>
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</div>
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<div id="postamble" class="status">
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<p class="author">Author: Dehaeze Thomas</p>
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<p class="date">Created: 2019-10-08 mar. 11:13</p>
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<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
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</div>
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</body>
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</html>
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@ -1,42 +0,0 @@
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#+TITLE: HAC-LAC
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:DRAWER:
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#+STARTUP: overview
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#+LANGUAGE: en
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#+EMAIL: dehaeze.thomas@gmail.com
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#+AUTHOR: Dehaeze Thomas
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#+HTML_LINK_HOME: ../index.html
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#+HTML_LINK_UP: ../index.html
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
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#+HTML_MATHJAX: align: center tagside: right font: TeX
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :exports both
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :output-dir figs
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#+PROPERTY: header-args:matlab+ :tangle matlab/modal_frf_coh.m
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:shell :eval no-export
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/}{config.tex}")
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
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#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
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#+PROPERTY: header-args:latex+ :results raw replace :buffer no
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#+PROPERTY: header-args:latex+ :eval no-export
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#+PROPERTY: header-args:latex+ :exports both
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#+PROPERTY: header-args:latex+ :mkdirp yes
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#+PROPERTY: header-args:latex+ :output-dir figs
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:END:
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@ -1,17 +0,0 @@
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%%
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clear; close all; clc;
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%% Load Plant
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load('./mat/G_iff.mat', 'G_iff_light_vc', 'G_iff_light_pz', 'G_iff_heavy_vc', 'G_iff_heavy_pz');
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%%
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fs = 10;
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K_light_vc_iff = generateDiagPidControl(G_iff_light_vc.G_cart, fs);
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K_light_pz_iff = generateDiagPidControl(G_iff_light_pz.G_cart, fs);
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K_heavy_vc_iff = generateDiagPidControl(G_iff_heavy_vc.G_cart, fs);
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||||||
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');
|
|
||||||
@ -1,117 +0,0 @@
|
|||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%% Load plant and controller
|
|
||||||
load('./mat/G_iff.mat', 'G_iff_light_vc', 'G_iff_light_pz', 'G_iff_heavy_vc', 'G_iff_heavy_pz');
|
|
||||||
load('./mat/K_fb_iff.mat', 'K_light_vc_iff', 'K_light_pz_iff', 'K_heavy_vc_iff', 'K_heavy_pz_iff');
|
|
||||||
|
|
||||||
%% Load Configuration
|
|
||||||
load('./mat/config.mat', 'save_fig', 'freqs');
|
|
||||||
|
|
||||||
%% Plot the Loop gain for Translations - Light VC
|
|
||||||
figure;
|
|
||||||
% Amplitude
|
|
||||||
ax1 = subplot(2,1,1);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(K_light_vc_iff(1, 1)*G_iff_light_vc.G_cart(1, 1), freqs, 'Hz'))), 'DisplayName', 'x');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(K_light_vc_iff(2, 2)*G_iff_light_vc.G_cart(2, 2), freqs, 'Hz'))), 'DisplayName', 'y');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(K_light_vc_iff(3, 3)*G_iff_light_vc.G_cart(3, 3), freqs, 'Hz'))), 'DisplayName', 'z');
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
set(gca, 'XTickLabel',[]);
|
|
||||||
ylabel('Amplitude [m/N]');
|
|
||||||
hold off;
|
|
||||||
% Phase
|
|
||||||
ax2 = subplot(2,1,2);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_vc_iff(1, 1)*G_iff_light_vc.G_cart(1, 1), freqs, 'Hz'))));
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_vc_iff(2, 2)*G_iff_light_vc.G_cart(2, 2), freqs, 'Hz'))));
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_vc_iff(3, 3)*G_iff_light_vc.G_cart(3, 3), freqs, 'Hz'))));
|
|
||||||
set(gca,'xscale','log');
|
|
||||||
yticks(-180:90:180);
|
|
||||||
ylim([-180 180]);
|
|
||||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
|
||||||
legend('Location', 'southwest');
|
|
||||||
hold off;
|
|
||||||
linkaxes([ax1,ax2],'x');
|
|
||||||
|
|
||||||
if save_fig; exportFig('loop_gain_fb_iff_light_vc_trans', 'normal-normal', struct('path', 'active_damping')); end
|
|
||||||
|
|
||||||
%% Plot the Loop gain for Rotations - Light VC
|
|
||||||
figure;
|
|
||||||
% Amplitude
|
|
||||||
ax1 = subplot(2,1,1);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(K_light_vc_iff(4, 4)*G_iff_light_vc.G_cart(4, 4), freqs, 'Hz'))), 'DisplayName', 'Rx');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(K_light_vc_iff(5, 5)*G_iff_light_vc.G_cart(5, 5), freqs, 'Hz'))), 'DisplayName', 'Ry');
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
set(gca, 'XTickLabel',[]);
|
|
||||||
ylabel('Amplitude [m/N]');
|
|
||||||
hold off;
|
|
||||||
% Phase
|
|
||||||
ax2 = subplot(2,1,2);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_vc_iff(4, 4)*G_iff_light_vc.G_cart(4, 4), freqs, 'Hz'))));
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_vc_iff(5, 5)*G_iff_light_vc.G_cart(5, 5), freqs, 'Hz'))));
|
|
||||||
set(gca,'xscale','log');
|
|
||||||
yticks(-180:90:180);
|
|
||||||
ylim([-180 180]);
|
|
||||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
|
||||||
legend('Location', 'southwest');
|
|
||||||
hold off;
|
|
||||||
linkaxes([ax1,ax2],'x');
|
|
||||||
|
|
||||||
if save_fig; exportFig('loop_gain_fb_iff_light_vc_rot', 'normal-normal', struct('path', 'active_damping')); end
|
|
||||||
|
|
||||||
%% Plot the Loop gain for Translations - Light PZ
|
|
||||||
figure;
|
|
||||||
% Amplitude
|
|
||||||
ax1 = subplot(2,1,1);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(K_light_pz_iff(1, 1)*G_iff_light_pz.G_cart(1, 1), freqs, 'Hz'))), 'DisplayName', 'x');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(K_light_pz_iff(2, 2)*G_iff_light_pz.G_cart(2, 2), freqs, 'Hz'))), 'DisplayName', 'y');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(K_light_pz_iff(3, 3)*G_iff_light_pz.G_cart(3, 3), freqs, 'Hz'))), 'DisplayName', 'z');
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
set(gca, 'XTickLabel',[]);
|
|
||||||
ylabel('Amplitude [m/N]');
|
|
||||||
hold off;
|
|
||||||
% Phase
|
|
||||||
ax2 = subplot(2,1,2);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_pz_iff(1, 1)*G_iff_light_pz.G_cart(1, 1), freqs, 'Hz'))));
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_pz_iff(2, 2)*G_iff_light_pz.G_cart(2, 2), freqs, 'Hz'))));
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_pz_iff(3, 3)*G_iff_light_pz.G_cart(3, 3), freqs, 'Hz'))));
|
|
||||||
set(gca,'xscale','log');
|
|
||||||
yticks(-180:90:180);
|
|
||||||
ylim([-180 180]);
|
|
||||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
|
||||||
legend('Location', 'southwest');
|
|
||||||
hold off;
|
|
||||||
linkaxes([ax1,ax2],'x');
|
|
||||||
|
|
||||||
if save_fig; exportFig('loop_gain_fb_iff_light_pz_trans', 'normal-normal', struct('path', 'active_damping')); end
|
|
||||||
|
|
||||||
%% Plot the Loop gain for Rotations - Light PZ
|
|
||||||
figure;
|
|
||||||
% Amplitude
|
|
||||||
ax1 = subplot(2,1,1);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(K_light_pz_iff(4, 4)*G_iff_light_pz.G_cart(4, 4), freqs, 'Hz'))), 'DisplayName', 'Rx');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(K_light_pz_iff(5, 5)*G_iff_light_pz.G_cart(5, 5), freqs, 'Hz'))), 'DisplayName', 'Ry');
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
set(gca, 'XTickLabel',[]);
|
|
||||||
ylabel('Amplitude [m/N]');
|
|
||||||
hold off;
|
|
||||||
% Phase
|
|
||||||
ax2 = subplot(2,1,2);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_pz_iff(4, 4)*G_iff_light_pz.G_cart(4, 4), freqs, 'Hz'))));
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_pz_iff(5, 5)*G_iff_light_pz.G_cart(5, 5), freqs, 'Hz'))));
|
|
||||||
set(gca,'xscale','log');
|
|
||||||
yticks(-180:90:180);
|
|
||||||
ylim([-180 180]);
|
|
||||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
|
||||||
legend('Location', 'southwest');
|
|
||||||
hold off;
|
|
||||||
linkaxes([ax1,ax2],'x');
|
|
||||||
|
|
||||||
if save_fig; exportFig('loop_gain_fb_iff_light_pz_rot', 'normal-normal', struct('path', 'active_damping')); end
|
|
||||||
@ -1,11 +0,0 @@
|
|||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%% Initialize Simulation and Inputs
|
|
||||||
initializeExperiment('tomography', 'light');
|
|
||||||
|
|
||||||
%% Run Closed Loop Simulations
|
|
||||||
runSimulation('vc', 'light', 'cl', 'iff');
|
|
||||||
runSimulation('pz', 'light', 'cl', 'iff');
|
|
||||||
% runSimulation('vc', 'heavy', 'cl', 'iff');
|
|
||||||
% runSimulation('pz', 'heavy', 'cl', 'iff');
|
|
||||||
@ -1,2 +0,0 @@
|
|||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
Loading…
Reference in New Issue
Block a user