DVF and IFF analysis on the nano-hexapod model

src/initializeNanoHexapodFinal.m

@@ -42,6 +42,8 @@ arguments
     args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
                                                                   % For Flexible
     args.actuator_xi  (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio
+    %% Controller
+    args.controller_type char {mustBeMember(args.controller_type,{'none', 'iff', 'dvf'})} = 'none'
 end
 
 nano_hexapod = struct();
@@ -190,6 +192,15 @@ switch args.motion_sensor_type
     nano_hexapod.geometry.Js = [nano_hexapod.geometry.si', cross(Bc, nano_hexapod.geometry.si)'];
 end
 
+switch args.controller_type
+  case 'none'
+    nano_hexapod.controller.type = 1;
+  case 'iff'
+    nano_hexapod.controller.type = 2;
+  case 'dvf'
+    nano_hexapod.controller.type = 3;
+end
+
 if nargout == 0
   save('./mat/stages.mat', 'nano_hexapod', '-append');
 end