[REFACTORING] Huge changes, WIP.

src/identifyG.m

@@ -0,0 +1,34 @@
+function [G, G_raw] = identifyG(opts_param)
+    %% Default values for opts
+    opts = struct('f_low',  0.1,    ...
+                  'f_high', 10000 ...
+    );
+
+    %% Populate opts with input parameters
+    if exist('opts_param','var')
+        for opt = fieldnames(opts_param)'
+            opts.(opt{1}) = opts_param.(opt{1});
+        end
+    end
+
+    %% Options for Linearized
+    options = linearizeOptions;
+    options.SampleTime = 0;
+
+    %% Name of the Simulink File
+    mdl = 'Micro_Station_Identification';
+
+    %% Centralized control (Cartesian coordinates)
+    % Input/Output definition
+    io(1) = linio([mdl, '/Micro-Station/Fn'],    1,'input');
+    io(2) = linio([mdl, '/Micro-Station/Sample'],1,'output');
+
+    % Run the linearization
+    G_raw = linearize(mdl,io, 0);
+    G.InputName  = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
+    G.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
+    
+    G = preprocessIdTf(G_raw, opts.f_low, opts.f_high);
+    G.InputName  = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
+    G.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
+end

src/identifyNass.m

@@ -0,0 +1,34 @@
+function [G_cart, G_cart_raw] = identifyNass(opts_param)
+    %% Default values for opts
+    opts = struct('f_low', 1,...
+                  'f_high', 10000 ...
+    );
+
+    %% Populate opts with input parameters
+    if exist('opts_param','var')
+        for opt = fieldnames(opts_param)'
+            opts.(opt{1}) = opts_param.(opt{1});
+        end
+    end
+
+    %% Options for Linearized
+    options = linearizeOptions;
+    options.SampleTime = 0;
+
+    %% Name of the Simulink File
+    mdl = 'Micro_Station_Identification';
+
+    %% Centralized control (Cartesian coordinates)
+    % Input/Output definition
+    io(1) = linio([mdl, '/Micro-Station/Fn'],          1,'input');
+    io(2) = linio([mdl, '/Micro-Station/Nano_Hexapod'],1,'output');
+
+    % Run the linearization
+    G_cart_raw = linearize(mdl,io, 0);
+
+    G_cart = preprocessIdTf(G_cart_raw, opts.f_low, opts.f_high);
+
+    % Input/Output names
+    G_cart.InputName  = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
+    G_cart.OutputName = {'Dnx', 'Dny', 'Dnz', 'Rnx', 'Rny', 'Rnz'};
+end