Add study on the active damping plants variability

simscape_subsystems/index.org

@@ -1123,36 +1123,36 @@ The =sample= structure is saved.
 :UNNUMBERED: t
 :END:
 #+begin_src matlab
-      %% Translation stage - Dy
-      t = 0:Ts:Tmax; % Time Vector [s]
-      Dy   = zeros(length(t), 1);
-      Dyd  = zeros(length(t), 1);
-      Dydd = zeros(length(t), 1);
-      switch args.Dy_type
-        case 'constant'
-          Dy(:) = args.Dy_amplitude;
-          Dyd(:)   = 0;
-          Dydd(:)  = 0;
-        case 'triangular'
-          % This is done to unsure that we start with no displacement
-          Dy_raw = args.Dy_amplitude*sawtooth(2*pi*t/args.Dy_period,1/2);
-          i0 = find(t>=args.Dy_period/4,1);
-          Dy(1:end-i0+1) = Dy_raw(i0:end);
-          Dy(end-i0+2:end) = Dy_raw(end); % we fix the last value
+  %% Translation stage - Dy
+  t = 0:Ts:Tmax; % Time Vector [s]
+  Dy   = zeros(length(t), 1);
+  Dyd  = zeros(length(t), 1);
+  Dydd = zeros(length(t), 1);
+  switch args.Dy_type
+    case 'constant'
+      Dy(:)   = args.Dy_amplitude;
+      Dyd(:)  = 0;
+      Dydd(:) = 0;
+    case 'triangular'
+      % This is done to unsure that we start with no displacement
+      Dy_raw = args.Dy_amplitude*sawtooth(2*pi*t/args.Dy_period,1/2);
+      i0 = find(t>=args.Dy_period/4,1);
+      Dy(1:end-i0+1) = Dy_raw(i0:end);
+      Dy(end-i0+2:end) = Dy_raw(end); % we fix the last value
 
-          % The signal is filtered out
-          Dy   = lsim(H_lpf,     Dy, t);
-          Dyd  = lsim(H_lpf*s,   Dy, t);
-          Dydd = lsim(H_lpf*s^2, Dy, t);
-        case 'sinusoidal'
-          Dy(:) = args.Dy_amplitude*sin(2*pi/args.Dy_period*t);
-          Dyd   = args.Dy_amplitude*2*pi/args.Dy_period*cos(2*pi/args.Dy_period*t);
-          Dydd  = -args.Dy_amplitude*(2*pi/args.Dy_period)^2*sin(2*pi/args.Dy_period*t);
-        otherwise
-          warning('Dy_type is not set correctly');
-      end
+      % The signal is filtered out
+      Dy   = lsim(H_lpf,     Dy, t);
+      Dyd  = lsim(H_lpf*s,   Dy, t);
+      Dydd = lsim(H_lpf*s^2, Dy, t);
+    case 'sinusoidal'
+      Dy(:) = args.Dy_amplitude*sin(2*pi/args.Dy_period*t);
+      Dyd   = args.Dy_amplitude*2*pi/args.Dy_period*cos(2*pi/args.Dy_period*t);
+      Dydd  = -args.Dy_amplitude*(2*pi/args.Dy_period)^2*sin(2*pi/args.Dy_period*t);
+    otherwise
+      warning('Dy_type is not set correctly');
+  end
 
-      Dy = struct('time', t, 'signals', struct('values', Dy), 'deriv', Dyd, 'dderiv', Dydd);
+  Dy = struct('time', t, 'signals', struct('values', Dy), 'deriv', Dyd, 'dderiv', Dydd);
 #+end_src
 
 ** Tilt Stage
@@ -1160,37 +1160,37 @@ The =sample= structure is saved.
 :UNNUMBERED: t
 :END:
 #+begin_src matlab
-      %% Tilt Stage - Ry
-      t = 0:Ts:Tmax; % Time Vector [s]
-      Ry   = zeros(length(t), 1);
-      Ryd  = zeros(length(t), 1);
-      Rydd = zeros(length(t), 1);
+  %% Tilt Stage - Ry
+  t = 0:Ts:Tmax; % Time Vector [s]
+  Ry   = zeros(length(t), 1);
+  Ryd  = zeros(length(t), 1);
+  Rydd = zeros(length(t), 1);
 
-      switch args.Ry_type
-        case 'constant'
-          Ry(:) = args.Ry_amplitude;
-          Ryd(:)   = 0;
-          Rydd(:)  = 0;
-        case 'triangular'
-          Ry_raw = args.Ry_amplitude*sawtooth(2*pi*t/args.Ry_period,1/2);
-          i0 = find(t>=args.Ry_period/4,1);
-          Ry(1:end-i0+1) = Ry_raw(i0:end);
-          Ry(end-i0+2:end) = Ry_raw(end); % we fix the last value
+  switch args.Ry_type
+    case 'constant'
+      Ry(:) = args.Ry_amplitude;
+      Ryd(:)   = 0;
+      Rydd(:)  = 0;
+    case 'triangular'
+      Ry_raw = args.Ry_amplitude*sawtooth(2*pi*t/args.Ry_period,1/2);
+      i0 = find(t>=args.Ry_period/4,1);
+      Ry(1:end-i0+1) = Ry_raw(i0:end);
+      Ry(end-i0+2:end) = Ry_raw(end); % we fix the last value
 
-          % The signal is filtered out
-          Ry   = lsim(H_lpf,     Ry, t);
-          Ryd  = lsim(H_lpf*s,   Ry, t);
-          Rydd = lsim(H_lpf*s^2, Ry, t);
-        case 'sinusoidal'
-          Ry(:) = args.Ry_amplitude*sin(2*pi/args.Ry_period*t);
+      % The signal is filtered out
+      Ry   = lsim(H_lpf,     Ry, t);
+      Ryd  = lsim(H_lpf*s,   Ry, t);
+      Rydd = lsim(H_lpf*s^2, Ry, t);
+    case 'sinusoidal'
+      Ry(:) = args.Ry_amplitude*sin(2*pi/args.Ry_period*t);
 
-          Ryd  = args.Ry_amplitude*2*pi/args.Ry_period*cos(2*pi/args.Ry_period*t);
-          Rydd = -args.Ry_amplitude*(2*pi/args.Ry_period)^2*sin(2*pi/args.Ry_period*t);
-        otherwise
-          warning('Ry_type is not set correctly');
-      end
+      Ryd  = args.Ry_amplitude*2*pi/args.Ry_period*cos(2*pi/args.Ry_period*t);
+      Rydd = -args.Ry_amplitude*(2*pi/args.Ry_period)^2*sin(2*pi/args.Ry_period*t);
+    otherwise
+      warning('Ry_type is not set correctly');
+  end
 
-      Ry = struct('time', t, 'signals', struct('values', Ry), 'deriv', Ryd, 'dderiv', Rydd);
+  Ry = struct('time', t, 'signals', struct('values', Ry), 'deriv', Ryd, 'dderiv', Rydd);
 #+end_src
 
 ** Spindle
@@ -1273,11 +1273,11 @@ The =sample= structure is saved.
 :UNNUMBERED: t
 :END:
 #+begin_src matlab
-      %% Axis Compensation - Rm
-      t = [0, Ts];
+  %% Axis Compensation - Rm
+  t = [0, Ts];
 
-      Rm = [args.Rm_pos, args.Rm_pos];
-      Rm = struct('time', t, 'signals', struct('values', Rm));
+  Rm = [args.Rm_pos, args.Rm_pos];
+  Rm = struct('time', t, 'signals', struct('values', Rm));
 #+end_src
 
 ** Nano Hexapod
@@ -1285,18 +1285,18 @@ The =sample= structure is saved.
 :UNNUMBERED: t
 :END:
 #+begin_src matlab
-      %% Nano-Hexapod
-      t = [0, Ts];
-      Dn = zeros(length(t), 6);
+  %% Nano-Hexapod
+  t = [0, Ts];
+  Dn = zeros(length(t), 6);
 
-      switch args.Dn_type
-        case 'constant'
-          Dn = [args.Dn_pos, args.Dn_pos];
-        otherwise
-          warning('Dn_type is not set correctly');
-      end
+  switch args.Dn_type
+    case 'constant'
+      Dn = [args.Dn_pos, args.Dn_pos];
+    otherwise
+      warning('Dn_type is not set correctly');
+  end
 
-      Dn = struct('time', t, 'signals', struct('values', Dn));
+  Dn = struct('time', t, 'signals', struct('values', Dn));
 #+end_src
 
 ** Save