Add one figure

org/optimal_stiffness.org

@@ -1402,10 +1402,70 @@ We can see here that for the soft nano-hexapod:
 [[file:figs/opt_stiffness_payload_mass_all.png]]
 
 *** Total variation
-We now plot the total change of dynamics due to change of the payload (Figure [[fig:opt_stiffness_payload_impedance_fz_dz]]):
+We now plot the total change of dynamics due to change of the payload (Figures [[fig:opt_stiffness_payload_impedance_all_fz_dz]] and [[fig:opt_stiffness_payload_impedance_fz_dz]]):
 - mass from 1kg to 50kg
 - main resonance from 50Hz to 500Hz
 
+#+begin_src matlab :exports none
+  freqs = logspace(-1, 3, 1000);
+
+  figure;
+
+  ax1 = subplot(2, 1, 1);
+  hold on;
+  for i = 1:length(Ks)
+    for j = 1:length(Fs)
+        set(gca,'ColorOrderIndex',i);
+        plot(freqs, abs(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), '-');
+    end
+    for j = 1:length(Ms)
+        set(gca,'ColorOrderIndex',i);
+        plot(freqs, abs(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), '-');
+    end
+  end
+  hold off;
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+  ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
+
+  ax2 = subplot(2, 1, 2);
+  hold on;
+  for i = 1:length(Ks)
+    for j = 1:length(Fs)
+      set(gca,'ColorOrderIndex',i);
+      if j == 1
+        plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-', ...
+            'DisplayName', sprintf('$K = %.0e$ [N/m]', Ks(i)));
+      else
+        plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-', ...
+             'HandleVisibility', 'off');
+      end
+    end
+    for j = 1:length(Ms)
+      set(gca,'ColorOrderIndex',i);
+      plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_err{i,j}('Ez', 'Fz'), freqs, 'Hz')))), '-', ...
+           'HandleVisibility', 'off');
+    end
+  end
+  hold off;
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
+  ylim([-270, 90]);
+  yticks([-360:90:360]);
+  legend('location', 'southwest');
+
+  linkaxes([ax1,ax2],'x');
+  xlim([freqs(1), freqs(end)]);
+#+end_src
+
+#+header: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/opt_stiffness_payload_impedance_all_fz_dz.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+<<plt-matlab>>
+#+end_src
+
+#+name: fig:opt_stiffness_payload_impedance_all_fz_dz
+#+caption: Dynamics from $\mathcal{F}_z$ to $\mathcal{X}_z$ for varying payload dynamics, both for a soft nano-hexapod and a stiff nano-hexapod ([[./figs/opt_stiffness_payload_impedance_all_fz_dz.png][png]], [[./figs/opt_stiffness_payload_impedance_all_fz_dz.pdf][pdf]])
+[[file:figs/opt_stiffness_payload_impedance_all_fz_dz.png]]
+
 #+begin_src matlab :exports none
   i = 1;
 
@@ -1430,10 +1490,10 @@ We now plot the total change of dynamics due to change of the payload (Figure [[
   hold on;
   for j = 1:length(Fs)
     plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
+  end
   for j = 1:length(Ms)
     plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
   end
-  end
   hold off;
   set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
   ylabel('Phase [deg]'); xlabel('Frequency [Hz]');