Add NASS LIBRARY for simscape

identification/id_G_d_plots.m

@@ -2,7 +2,7 @@
 clear; close all; clc;
 
 %% Load the identified transfer functions
-save('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
+load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
 
 %% Load Configuration file
 load('./mat/config.mat', 'save_fig', 'freqs');

identification/id_flexible_rigid.m

@@ -13,7 +13,7 @@ options = linearizeOptions;
 options.SampleTime = 0;
 
 %% Name of the Simulink File
-mdl = 'simscape_id_micro_station';
+mdl = 'sim_micro_station';
 
 %% Micro-Hexapod
 % Input/Output definition
@@ -32,11 +32,11 @@ G_ms_flexible = linearize(mdl, io, 0);
 
 % Input/Output names
 G_ms_flexible.InputName  = {'Fmx', 'Fmy', 'Fmz',...
-                   'Fgx', 'Fgy', 'Fgz'};
+                            'Fgx', 'Fgy', 'Fgz'};
 G_ms_flexible.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
-                   'Tyx', 'Tyy', 'Tyz', ...
-                   'Ryx', 'Ryy', 'Ryz', ...
-                   'Dgx', 'Dgy', 'Dgz'};
+                            'Tyx', 'Tyy', 'Tyz', ...
+                            'Ryx', 'Ryy', 'Ryz', ...
+                            'Dgx', 'Dgy', 'Dgz'};
 
 %% Run the linearization
 initializeTy(struct('rigid', true));

identification/id_main.m

@@ -30,3 +30,13 @@ run id_stages.m
 
 % Plot de obtained transfer functions
 run id_stages_plots.m
+
+%% Identification of the variation of the plant
+run id_plant_variation.m
+
+run id_plant_variation_plots.m
+
+%% Study the effect of the flexibility of each Stage
+run id_flexible_rigid.m
+
+run id_flexible_rigid_plots.m

identification/id_micro_station.m

@@ -11,7 +11,7 @@ options = linearizeOptions;
 options.SampleTime = 0;
 
 %% Name of the Simulink File
-mdl = 'simscape_id_micro_station';
+mdl = 'sim_micro_station';
 
 %% Micro-Hexapod
 % Input/Output definition

identification/id_nano_station.m

@@ -2,8 +2,9 @@
 clear; close all; clc;
 
 %%
+K     = tf(zeros(6));
 K_iff = tf(zeros(6));
-save('./mat/controllers.mat', 'K_iff', '-append');
+save('./mat/controllers.mat', 'K', 'K_iff', '-append');
 
 %% Light Sample
 initializeSample(struct('mass', 1));