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<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Simscape Uniaxial Model</title>
@@ -195,13 +194,13 @@
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@@ -261,9 +260,9 @@ for the JavaScript code in this tag.
</head>
<body>
<div id="org-div-home-and-up">
<a accesskey="h" href="../index.html"> UP </a>
<a accesskey="h" href="./index.html"> UP </a>
|
<a accesskey="H" href="../index.html"> HOME </a>
<a accesskey="H" href="./index.html"> HOME </a>
</div><div id="content">
<h1 class="title">Simscape Uniaxial Model</h1>
<div id="table-of-contents">
@@ -273,69 +272,69 @@ for the JavaScript code in this tag.
<li><a href="#org227ba84">1. Simscape Model</a></li>
<li><a href="#org6bfb35d">2. Undamped System</a>
<ul>
<li><a href="#org61775db">2.1. Init</a></li>
<li><a href="#org3019170">2.2. Identification</a></li>
<li><a href="#org6a3e875">2.3. Sensitivity to Disturbances</a></li>
<li><a href="#orgaf6bea7">2.4. Noise Budget</a></li>
<li><a href="#org5265d72">2.1. Init</a></li>
<li><a href="#org3b15675">2.2. Identification</a></li>
<li><a href="#org3492011">2.3. Sensitivity to Disturbances</a></li>
<li><a href="#orgd860077">2.4. Noise Budget</a></li>
<li><a href="#orgdb3535a">2.5. Plant</a></li>
</ul>
</li>
<li><a href="#org90e581d">3. Integral Force Feedback</a>
<li><a href="#org66a1e03">3. Integral Force Feedback</a>
<ul>
<li><a href="#orgd591c6e">3.1. Control Design</a></li>
<li><a href="#org33f4bcf">3.2. Identification</a></li>
<li><a href="#org9f881a5">3.3. Sensitivity to Disturbance</a></li>
<li><a href="#org1c61625">3.4. Damped Plant</a></li>
<li><a href="#org4fa7707">3.5. Conclusion</a></li>
<li><a href="#org5d899b2">3.1. Control Design</a></li>
<li><a href="#orge386fb1">3.2. Identification</a></li>
<li><a href="#orgbd405f9">3.3. Sensitivity to Disturbance</a></li>
<li><a href="#orgbe8aa64">3.4. Damped Plant</a></li>
<li><a href="#orgfa342b9">3.5. Conclusion</a></li>
</ul>
</li>
<li><a href="#org07ff58f">4. Relative Motion Control</a>
<ul>
<li><a href="#org185ae89">4.1. Control Design</a></li>
<li><a href="#org743899e">4.2. Identification</a></li>
<li><a href="#org2fa5702">4.3. Sensitivity to Disturbance</a></li>
<li><a href="#org19e990c">4.4. Damped Plant</a></li>
<li><a href="#org47c65d5">4.5. Conclusion</a></li>
<li><a href="#org971bdb9">4.1. Control Design</a></li>
<li><a href="#orgfce3b27">4.2. Identification</a></li>
<li><a href="#org2123e6c">4.3. Sensitivity to Disturbance</a></li>
<li><a href="#org7e3e638">4.4. Damped Plant</a></li>
<li><a href="#org0ec985e">4.5. Conclusion</a></li>
</ul>
</li>
<li><a href="#orgc9b3622">5. Direct Velocity Feedback</a>
<ul>
<li><a href="#orgd11a858">5.1. Control Design</a></li>
<li><a href="#orgd06082d">5.2. Identification</a></li>
<li><a href="#org3111d50">5.3. Sensitivity to Disturbance</a></li>
<li><a href="#org8451460">5.4. Damped Plant</a></li>
<li><a href="#org4792e6e">5.5. Conclusion</a></li>
<li><a href="#orgd5df5f2">5.1. Control Design</a></li>
<li><a href="#orgca551cb">5.2. Identification</a></li>
<li><a href="#orga45e582">5.3. Sensitivity to Disturbance</a></li>
<li><a href="#orgdbf551f">5.4. Damped Plant</a></li>
<li><a href="#orge883751">5.5. Conclusion</a></li>
</ul>
</li>
<li><a href="#org5ac7dda">6. With Cedrat Piezo-electric Actuators</a>
<ul>
<li><a href="#orga4db73c">6.1. Identification</a></li>
<li><a href="#org5d899b2">6.2. Control Design</a></li>
<li><a href="#orgc9ca496">6.3. Identification</a></li>
<li><a href="#org82723ce">6.4. Sensitivity to Disturbance</a></li>
<li><a href="#orgf696e7c">6.5. Damped Plant</a></li>
<li><a href="#orgfc63bb2">6.6. Conclusion</a></li>
<li><a href="#orgddd7da8">6.1. Identification</a></li>
<li><a href="#orgb6ef594">6.2. Control Design</a></li>
<li><a href="#org5314588">6.3. Identification</a></li>
<li><a href="#orgd226771">6.4. Sensitivity to Disturbance</a></li>
<li><a href="#org294b781">6.5. Damped Plant</a></li>
<li><a href="#orga768e31">6.6. Conclusion</a></li>
</ul>
</li>
<li><a href="#org77a79e6">7. Comparison of Active Damping Techniques</a>
<ul>
<li><a href="#orgb0afe4f">7.1. Load the plants</a></li>
<li><a href="#orgbd405f9">7.2. Sensitivity to Disturbance</a></li>
<li><a href="#org76ed406">7.3. Noise Budget</a></li>
<li><a href="#orgbe8aa64">7.4. Damped Plant</a></li>
<li><a href="#org74fe486">7.5. Conclusion</a></li>
<li><a href="#org948b91d">7.2. Sensitivity to Disturbance</a></li>
<li><a href="#org234479d">7.3. Noise Budget</a></li>
<li><a href="#orgf591690">7.4. Damped Plant</a></li>
<li><a href="#orgf332379">7.5. Conclusion</a></li>
</ul>
</li>
<li><a href="#org15965e0">8. Voice Coil</a>
<ul>
<li><a href="#org5265d72">8.1. Init</a></li>
<li><a href="#org3b15675">8.2. Identification</a></li>
<li><a href="#org3492011">8.3. Sensitivity to Disturbances</a></li>
<li><a href="#org45c8e35">8.4. Noise Budget</a></li>
<li><a href="#org66a1e03">8.5. Integral Force Feedback</a></li>
<li><a href="#orgefc326e">8.1. Init</a></li>
<li><a href="#orgae49d6e">8.2. Identification</a></li>
<li><a href="#org72047d5">8.3. Sensitivity to Disturbances</a></li>
<li><a href="#orgbcac95d">8.4. Noise Budget</a></li>
<li><a href="#org95b95ac">8.5. Integral Force Feedback</a></li>
<li><a href="#org2a655f7">8.6. Identification of the Damped Plant</a></li>
<li><a href="#orgd860077">8.7. Noise Budget</a></li>
<li><a href="#orgfa342b9">8.8. Conclusion</a></li>
<li><a href="#orgc8d2daf">8.7. Noise Budget</a></li>
<li><a href="#orgb885664">8.8. Conclusion</a></li>
</ul>
</li>
</ul>
@@ -433,8 +432,8 @@ Schematics of the active damping techniques are displayed in figure <a href="#or
Let&rsquo;s start by study the undamped system.
</p>
</div>
<div id="outline-container-org61775db" class="outline-3">
<h3 id="org61775db"><span class="section-number-3">2.1</span> Init</h3>
<div id="outline-container-org5265d72" class="outline-3">
<h3 id="org5265d72"><span class="section-number-3">2.1</span> Init</h3>
<div class="outline-text-3" id="text-2-1">
<p>
We initialize all the stages with the default parameters.
@@ -446,8 +445,8 @@ All the controllers are set to 0 (Open Loop).
</p>
</div>
</div>
<div id="outline-container-org3019170" class="outline-3">
<h3 id="org3019170"><span class="section-number-3">2.2</span> Identification</h3>
<div id="outline-container-org3b15675" class="outline-3">
<h3 id="org3b15675"><span class="section-number-3">2.2</span> Identification</h3>
<div class="outline-text-3" id="text-2-2">
<p>
We identify the dynamics of the system.
@@ -510,8 +509,8 @@ Finally, we save the identified system dynamics for further analysis.
</div>
</div>
<div id="outline-container-org6a3e875" class="outline-3">
<h3 id="org6a3e875"><span class="section-number-3">2.3</span> Sensitivity to Disturbances</h3>
<div id="outline-container-org3492011" class="outline-3">
<h3 id="org3492011"><span class="section-number-3">2.3</span> Sensitivity to Disturbances</h3>
<div class="outline-text-3" id="text-2-3">
<p>
We show several plots representing the sensitivity to disturbances:
@@ -538,8 +537,8 @@ We show several plots representing the sensitivity to disturbances:
</div>
</div>
<div id="outline-container-orgaf6bea7" class="outline-3">
<h3 id="orgaf6bea7"><span class="section-number-3">2.4</span> Noise Budget</h3>
<div id="outline-container-orgd860077" class="outline-3">
<h3 id="orgd860077"><span class="section-number-3">2.4</span> Noise Budget</h3>
<div class="outline-text-3" id="text-2-4">
<p>
We first load the measured PSD of the disturbance.
@@ -598,8 +597,8 @@ It corresponds to the plant to control.
</div>
</div>
<div id="outline-container-org90e581d" class="outline-2">
<h2 id="org90e581d"><span class="section-number-2">3</span> Integral Force Feedback</h2>
<div id="outline-container-org66a1e03" class="outline-2">
<h2 id="org66a1e03"><span class="section-number-2">3</span> Integral Force Feedback</h2>
<div class="outline-text-2" id="text-3">
<p>
<a id="org37f1b7d"></a>
@@ -611,8 +610,8 @@ It corresponds to the plant to control.
<p><span class="figure-number">Figure 8: </span>Uniaxial IFF Control Schematic</p>
</div>
</div>
<div id="outline-container-orgd591c6e" class="outline-3">
<h3 id="orgd591c6e"><span class="section-number-3">3.1</span> Control Design</h3>
<div id="outline-container-org5d899b2" class="outline-3">
<h3 id="org5d899b2"><span class="section-number-3">3.1</span> Control Design</h3>
<div class="outline-text-3" id="text-3-1">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./uniaxial/mat/plants.mat'</span>, <span class="org-string">'G'</span>);
@@ -647,8 +646,8 @@ The controller for each pair of actuator/sensor is:
</div>
</div>
<div id="outline-container-org33f4bcf" class="outline-3">
<h3 id="org33f4bcf"><span class="section-number-3">3.2</span> Identification</h3>
<div id="outline-container-orge386fb1" class="outline-3">
<h3 id="orge386fb1"><span class="section-number-3">3.2</span> Identification</h3>
<div class="outline-text-3" id="text-3-2">
<p>
Let&rsquo;s initialize the system prior to identification.
@@ -731,8 +730,8 @@ G_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
</div>
</div>
<div id="outline-container-org9f881a5" class="outline-3">
<h3 id="org9f881a5"><span class="section-number-3">3.3</span> Sensitivity to Disturbance</h3>
<div id="outline-container-orgbd405f9" class="outline-3">
<h3 id="orgbd405f9"><span class="section-number-3">3.3</span> Sensitivity to Disturbance</h3>
<div class="outline-text-3" id="text-3-3">
<div id="orge528565" class="figure">
@@ -750,8 +749,8 @@ G_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
</div>
</div>
<div id="outline-container-org1c61625" class="outline-3">
<h3 id="org1c61625"><span class="section-number-3">3.4</span> Damped Plant</h3>
<div id="outline-container-orgbe8aa64" class="outline-3">
<h3 id="orgbe8aa64"><span class="section-number-3">3.4</span> Damped Plant</h3>
<div class="outline-text-3" id="text-3-4">
<div id="org57280cb" class="figure">
@@ -762,8 +761,8 @@ G_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
</div>
</div>
<div id="outline-container-org4fa7707" class="outline-3">
<h3 id="org4fa7707"><span class="section-number-3">3.5</span> Conclusion</h3>
<div id="outline-container-orgfa342b9" class="outline-3">
<h3 id="orgfa342b9"><span class="section-number-3">3.5</span> Conclusion</h3>
<div class="outline-text-3" id="text-3-5">
<div class="important">
<p>
@@ -792,8 +791,8 @@ In the Relative Motion Control (RMC), a derivative feedback is applied between t
<p><span class="figure-number">Figure 14: </span>Uniaxial RMC Control Schematic</p>
</div>
</div>
<div id="outline-container-org185ae89" class="outline-3">
<h3 id="org185ae89"><span class="section-number-3">4.1</span> Control Design</h3>
<div id="outline-container-org971bdb9" class="outline-3">
<h3 id="org971bdb9"><span class="section-number-3">4.1</span> Control Design</h3>
<div class="outline-text-3" id="text-4-1">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./uniaxial/mat/plants.mat'</span>, <span class="org-string">'G'</span>);
@@ -829,8 +828,8 @@ A Low pass Filter is added to make the controller transfer function proper.
</div>
</div>
<div id="outline-container-org743899e" class="outline-3">
<h3 id="org743899e"><span class="section-number-3">4.2</span> Identification</h3>
<div id="outline-container-orgfce3b27" class="outline-3">
<h3 id="orgfce3b27"><span class="section-number-3">4.2</span> Identification</h3>
<div class="outline-text-3" id="text-4-2">
<p>
Let&rsquo;s initialize the system prior to identification.
@@ -914,8 +913,8 @@ G_rmc.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
</div>
<div id="outline-container-org2fa5702" class="outline-3">
<h3 id="org2fa5702"><span class="section-number-3">4.3</span> Sensitivity to Disturbance</h3>
<div id="outline-container-org2123e6c" class="outline-3">
<h3 id="org2123e6c"><span class="section-number-3">4.3</span> Sensitivity to Disturbance</h3>
<div class="outline-text-3" id="text-4-3">
<div id="org9e0dde4" class="figure">
@@ -933,8 +932,8 @@ G_rmc.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
</div>
</div>
<div id="outline-container-org19e990c" class="outline-3">
<h3 id="org19e990c"><span class="section-number-3">4.4</span> Damped Plant</h3>
<div id="outline-container-org7e3e638" class="outline-3">
<h3 id="org7e3e638"><span class="section-number-3">4.4</span> Damped Plant</h3>
<div class="outline-text-3" id="text-4-4">
<div id="org18786e8" class="figure">
@@ -945,8 +944,8 @@ G_rmc.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
</div>
</div>
<div id="outline-container-org47c65d5" class="outline-3">
<h3 id="org47c65d5"><span class="section-number-3">4.5</span> Conclusion</h3>
<div id="outline-container-org0ec985e" class="outline-3">
<h3 id="org0ec985e"><span class="section-number-3">4.5</span> Conclusion</h3>
<div class="outline-text-3" id="text-4-5">
<div class="important">
<p>
@@ -975,8 +974,8 @@ In the Relative Motion Control (RMC), a feedback is applied between the measured
<p><span class="figure-number">Figure 20: </span>Uniaxial DVF Control Schematic</p>
</div>
</div>
<div id="outline-container-orgd11a858" class="outline-3">
<h3 id="orgd11a858"><span class="section-number-3">5.1</span> Control Design</h3>
<div id="outline-container-orgd5df5f2" class="outline-3">
<h3 id="orgd5df5f2"><span class="section-number-3">5.1</span> Control Design</h3>
<div class="outline-text-3" id="text-5-1">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./uniaxial/mat/plants.mat'</span>, <span class="org-string">'G'</span>);
@@ -1004,8 +1003,8 @@ In the Relative Motion Control (RMC), a feedback is applied between the measured
</div>
</div>
<div id="outline-container-orgd06082d" class="outline-3">
<h3 id="orgd06082d"><span class="section-number-3">5.2</span> Identification</h3>
<div id="outline-container-orgca551cb" class="outline-3">
<h3 id="orgca551cb"><span class="section-number-3">5.2</span> Identification</h3>
<div class="outline-text-3" id="text-5-2">
<p>
Let&rsquo;s initialize the system prior to identification.
@@ -1088,8 +1087,8 @@ G_dvf.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
</div>
</div>
<div id="outline-container-org3111d50" class="outline-3">
<h3 id="org3111d50"><span class="section-number-3">5.3</span> Sensitivity to Disturbance</h3>
<div id="outline-container-orga45e582" class="outline-3">
<h3 id="orga45e582"><span class="section-number-3">5.3</span> Sensitivity to Disturbance</h3>
<div class="outline-text-3" id="text-5-3">
<div id="orgf9d4052" class="figure">
@@ -1107,8 +1106,8 @@ G_dvf.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
</div>
</div>
<div id="outline-container-org8451460" class="outline-3">
<h3 id="org8451460"><span class="section-number-3">5.4</span> Damped Plant</h3>
<div id="outline-container-orgdbf551f" class="outline-3">
<h3 id="orgdbf551f"><span class="section-number-3">5.4</span> Damped Plant</h3>
<div class="outline-text-3" id="text-5-4">
<div id="orgbc9c953" class="figure">
@@ -1119,8 +1118,8 @@ G_dvf.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
</div>
</div>
<div id="outline-container-org4792e6e" class="outline-3">
<h3 id="org4792e6e"><span class="section-number-3">5.5</span> Conclusion</h3>
<div id="outline-container-orge883751" class="outline-3">
<h3 id="orge883751"><span class="section-number-3">5.5</span> Conclusion</h3>
<div class="outline-text-3" id="text-5-5">
<div class="important">
<p>
@@ -1148,8 +1147,8 @@ The model used for the Cedrat actuator is shown in figure <a href="#org83591fa">
<p><span class="figure-number">Figure 26: </span>Schematic of the model used for the Cedrat Actuator</p>
</div>
</div>
<div id="outline-container-orga4db73c" class="outline-3">
<h3 id="orga4db73c"><span class="section-number-3">6.1</span> Identification</h3>
<div id="outline-container-orgddd7da8" class="outline-3">
<h3 id="orgddd7da8"><span class="section-number-3">6.1</span> Identification</h3>
<div class="outline-text-3" id="text-6-1">
<p>
Let&rsquo;s initialize the system prior to identification.
@@ -1237,8 +1236,8 @@ G.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-comm
</div>
</div>
<div id="outline-container-org5d899b2" class="outline-3">
<h3 id="org5d899b2"><span class="section-number-3">6.2</span> Control Design</h3>
<div id="outline-container-orgb6ef594" class="outline-3">
<h3 id="orgb6ef594"><span class="section-number-3">6.2</span> Control Design</h3>
<div class="outline-text-3" id="text-6-2">
<p>
Let&rsquo;s look at the transfer function from actuator forces in the nano-hexapod to the force sensor in the nano-hexapod legs for all 6 pairs of actuator/sensor.
@@ -1268,8 +1267,8 @@ The controller for each pair of actuator/sensor is:
</div>
</div>
<div id="outline-container-orgc9ca496" class="outline-3">
<h3 id="orgc9ca496"><span class="section-number-3">6.3</span> Identification</h3>
<div id="outline-container-org5314588" class="outline-3">
<h3 id="org5314588"><span class="section-number-3">6.3</span> Identification</h3>
<div class="outline-text-3" id="text-6-3">
<p>
Let&rsquo;s initialize the system prior to identification.
@@ -1353,8 +1352,8 @@ G_cedrat.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
</div>
</div>
<div id="outline-container-org82723ce" class="outline-3">
<h3 id="org82723ce"><span class="section-number-3">6.4</span> Sensitivity to Disturbance</h3>
<div id="outline-container-orgd226771" class="outline-3">
<h3 id="orgd226771"><span class="section-number-3">6.4</span> Sensitivity to Disturbance</h3>
<div class="outline-text-3" id="text-6-4">
<div id="org90f5c2b" class="figure">
@@ -1372,8 +1371,8 @@ G_cedrat.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
</div>
</div>
<div id="outline-container-orgf696e7c" class="outline-3">
<h3 id="orgf696e7c"><span class="section-number-3">6.5</span> Damped Plant</h3>
<div id="outline-container-org294b781" class="outline-3">
<h3 id="org294b781"><span class="section-number-3">6.5</span> Damped Plant</h3>
<div class="outline-text-3" id="text-6-5">
<div id="org0c4e61a" class="figure">
@@ -1384,8 +1383,8 @@ G_cedrat.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
</div>
</div>
<div id="outline-container-orgfc63bb2" class="outline-3">
<h3 id="orgfc63bb2"><span class="section-number-3">6.6</span> Conclusion</h3>
<div id="outline-container-orga768e31" class="outline-3">
<h3 id="orga768e31"><span class="section-number-3">6.6</span> Conclusion</h3>
<div class="outline-text-3" id="text-6-6">
<div class="important">
<p>
@@ -1414,8 +1413,8 @@ This gives similar results than with a classical force sensor.
</div>
</div>
<div id="outline-container-orgbd405f9" class="outline-3">
<h3 id="orgbd405f9"><span class="section-number-3">7.2</span> Sensitivity to Disturbance</h3>
<div id="outline-container-org948b91d" class="outline-3">
<h3 id="org948b91d"><span class="section-number-3">7.2</span> Sensitivity to Disturbance</h3>
<div class="outline-text-3" id="text-7-2">
<div id="org8c59440" class="figure">
@@ -1448,8 +1447,8 @@ This gives similar results than with a classical force sensor.
</div>
</div>
<div id="outline-container-org76ed406" class="outline-3">
<h3 id="org76ed406"><span class="section-number-3">7.3</span> Noise Budget</h3>
<div id="outline-container-org234479d" class="outline-3">
<h3 id="org234479d"><span class="section-number-3">7.3</span> Noise Budget</h3>
<div class="outline-text-3" id="text-7-3">
<p>
We first load the measured PSD of the disturbance.
@@ -1516,8 +1515,8 @@ It is important to note that the effect of direct forces applied to the sample a
</div>
</div>
<div id="outline-container-orgbe8aa64" class="outline-3">
<h3 id="orgbe8aa64"><span class="section-number-3">7.4</span> Damped Plant</h3>
<div id="outline-container-orgf591690" class="outline-3">
<h3 id="orgf591690"><span class="section-number-3">7.4</span> Damped Plant</h3>
<div class="outline-text-3" id="text-7-4">
<div id="orga0c1298" class="figure">
@@ -1528,8 +1527,8 @@ It is important to note that the effect of direct forces applied to the sample a
</div>
</div>
<div id="outline-container-org74fe486" class="outline-3">
<h3 id="org74fe486"><span class="section-number-3">7.5</span> Conclusion</h3>
<div id="outline-container-orgf332379" class="outline-3">
<h3 id="orgf332379"><span class="section-number-3">7.5</span> Conclusion</h3>
<div class="outline-text-3" id="text-7-5">
<table id="org46e95c2" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 2:</span> Comparison of proposed active damping techniques</caption>
@@ -1605,8 +1604,8 @@ It is important to note that the effect of direct forces applied to the sample a
<a id="orgf9e9d51"></a>
</p>
</div>
<div id="outline-container-org5265d72" class="outline-3">
<h3 id="org5265d72"><span class="section-number-3">8.1</span> Init</h3>
<div id="outline-container-orgefc326e" class="outline-3">
<h3 id="orgefc326e"><span class="section-number-3">8.1</span> Init</h3>
<div class="outline-text-3" id="text-8-1">
<p>
We initialize all the stages with the default parameters.
@@ -1618,8 +1617,8 @@ All the controllers are set to 0 (Open Loop).
</p>
</div>
</div>
<div id="outline-container-org3b15675" class="outline-3">
<h3 id="org3b15675"><span class="section-number-3">8.2</span> Identification</h3>
<div id="outline-container-orgae49d6e" class="outline-3">
<h3 id="orgae49d6e"><span class="section-number-3">8.2</span> Identification</h3>
<div class="outline-text-3" id="text-8-2">
<p>
We identify the dynamics of the system.
@@ -1682,8 +1681,8 @@ Finally, we save the identified system dynamics for further analysis.
</div>
</div>
<div id="outline-container-org3492011" class="outline-3">
<h3 id="org3492011"><span class="section-number-3">8.3</span> Sensitivity to Disturbances</h3>
<div id="outline-container-org72047d5" class="outline-3">
<h3 id="org72047d5"><span class="section-number-3">8.3</span> Sensitivity to Disturbances</h3>
<div class="outline-text-3" id="text-8-3">
<p>
We load the dynamics when using a piezo-electric nano hexapod to compare the results.
@@ -1717,8 +1716,8 @@ We show several plots representing the sensitivity to disturbances:
</div>
</div>
<div id="outline-container-org45c8e35" class="outline-3">
<h3 id="org45c8e35"><span class="section-number-3">8.4</span> Noise Budget</h3>
<div id="outline-container-orgbcac95d" class="outline-3">
<h3 id="orgbcac95d"><span class="section-number-3">8.4</span> Noise Budget</h3>
<div class="outline-text-3" id="text-8-4">
<p>
We first load the measured PSD of the disturbance.
@@ -1767,8 +1766,8 @@ Thus, it may be desirable to use voice coil actuators.
</div>
</div>
</div>
<div id="outline-container-org66a1e03" class="outline-3">
<h3 id="org66a1e03"><span class="section-number-3">8.5</span> Integral Force Feedback</h3>
<div id="outline-container-org95b95ac" class="outline-3">
<h3 id="org95b95ac"><span class="section-number-3">8.5</span> Integral Force Feedback</h3>
<div class="outline-text-3" id="text-8-5">
<div class="org-src-container">
<pre class="src src-matlab">K_iff = <span class="org-type">-</span>20<span class="org-type">/</span>s;
@@ -1863,8 +1862,8 @@ G_vc_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
</div>
</div>
<div id="outline-container-orgd860077" class="outline-3">
<h3 id="orgd860077"><span class="section-number-3">8.7</span> Noise Budget</h3>
<div id="outline-container-orgc8d2daf" class="outline-3">
<h3 id="orgc8d2daf"><span class="section-number-3">8.7</span> Noise Budget</h3>
<div class="outline-text-3" id="text-8-7">
<p>
We compute the obtain PSD of the displacement \(D\) when using IFF.
@@ -1878,8 +1877,8 @@ We compute the obtain PSD of the displacement \(D\) when using IFF.
</div>
</div>
<div id="outline-container-orgfa342b9" class="outline-3">
<h3 id="orgfa342b9"><span class="section-number-3">8.8</span> Conclusion</h3>
<div id="outline-container-orgb885664" class="outline-3">
<h3 id="orgb885664"><span class="section-number-3">8.8</span> Conclusion</h3>
<div class="outline-text-3" id="text-8-8">
<div class="important">
<p>
@@ -1897,7 +1896,7 @@ Similarly, it would require much lower bandwidth to attain the same level of dis
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-02-25 mar. 18:08</p>
<p class="date">Created: 2020-02-25 mar. 18:20</p>
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