[major changes] Add some control on the system

Add many scripts to:
- define all the inputs for various experiments
- plot the time and frequency data
- identify the plant

Identification/compare_measurements.m

@@ -23,9 +23,9 @@ measure_dirs = {{'tx', 'tx'}, {'ty', 'ty'}, {'tz', 'tz'}};
 measures = getAllMeasure(m_object, 'marble', 'hexa', measure_dirs, meas_opts);
 
 %%
-load('../data/id_G_h_h.mat', 'G_h_h');
-load('../data/id_G_g_g.mat', 'G_g_g');
-load('../data/id_G_h_g.mat', 'G_h_g');
+load('../mat/id_G_h_h.mat', 'G_h_h');
+load('../mat/id_G_g_g.mat', 'G_g_g');
+load('../mat/id_G_h_g.mat', 'G_h_g');
 
 %%
 freqs = logspace(-1, 3, 2000);

Identification/identification_control.m

@@ -0,0 +1,48 @@
+%% Script Description
+% 
+%%
+clear;
+close all;
+clc
+
+%% Define options for bode plots
+bode_opts = bodeoptions;
+
+bode_opts.Title.FontSize  = 12;
+bode_opts.XLabel.FontSize = 12;
+bode_opts.YLabel.FontSize = 12;
+bode_opts.FreqUnits       = 'Hz';
+bode_opts.MagUnits        = 'abs';
+bode_opts.MagScale        = 'log';
+bode_opts.PhaseWrapping   = 'on';
+bode_opts.PhaseVisible    = 'on';
+
+%% Options for preprocessing the identified transfer functions
+f_low = 10;
+f_high = 1000;
+
+%% Options for Linearized
+options = linearizeOptions;
+options.SampleTime = 0;
+
+%% Name of the Simulink File
+mdl = 'Assemblage';
+
+%% Y-Translation Stage
+% Input/Output definition
+io(1) = linio([mdl, '/Fnass_cart'],1,'input');
+io(2) = linio([mdl, '/Sample'],1,'output');
+
+% Run the linearization
+G_f_to_d = linearize(mdl,io, 0);
+
+% Input/Output names
+G_f_to_d.InputName  = {'Fy'};
+G_f_to_d.OutputName = {'Dy'};
+
+% Bode Plot of the linearized function
+figure;
+bode(G_f_to_d(2, 2), bode_opts)
+
+%%
+save('../mat/G_f_to_d.mat', 'G_f_to_d');

Identification/identification_marc.m

@@ -80,6 +80,6 @@ figure;
 bode(G_h_g(2, 2), bode_opts)
 
 %%
-save('../data/id_G_h_h.mat', 'G_h_h');
-save('../data/id_G_g_g.mat', 'G_g_g');
-save('../data/id_G_h_g.mat', 'G_h_g');
+save('../mat/id_G_h_h.mat', 'G_h_h');
+save('../mat/id_G_g_g.mat', 'G_g_g');
+save('../mat/id_G_h_g.mat', 'G_h_g');

Identification/identification_stages_plot.m

@@ -19,7 +19,7 @@ bode_opts.PhaseWrapping   = 'on';
 bode_opts.PhaseVisible    = 'off';
 
 %% Load Data
-load('./data/identified_tf.mat');
+load('../mat/identified_tf.mat');
 
 %% Y-Translation Stage
 figure;

Identification/identification_stages_run.m

@@ -128,7 +128,7 @@ figure;
 bode(G_nass, bode_opts)
 
 %% Save all transfer function
-save('./data/identified_tf.mat', 'G_ty', 'G_ry', 'G_rz', 'G_hexa', 'G_nass')
+save('../mat/identified_tf.mat', 'G_ty', 'G_ry', 'G_rz', 'G_hexa', 'G_nass')
 
 %% Functions
 function G = preprocessIdTf(G0, f_low, f_high)