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+#+end_src + +#+name: fig:compliance_comp_pz_vc_cascade +#+caption: Comparison of the compliance using the open-loop piezo-nano hexapod and the voice coil nano-hexapod with the cascade control topology ([[./figs/compliance_comp_pz_vc_cascade.png][png]], [[./figs/compliance_comp_pz_vc_cascade.pdf][pdf]]) +[[file:figs/compliance_comp_pz_vc_cascade.png]] + + ** Robustness to Payload Variability *** Initialization Let's change the payload mass, and see if the controller design for a payload mass of 1 still gives good performance.