Add script to identify tf from force to displacement of the legs

identification/id_nano_station.m

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

identification/id_plant_variation.m

@@ -0,0 +1,28 @@
+%%
+clear; close all; clc;
+
+%%
+K     = tf(zeros(6));
+K_iff = tf(zeros(6));
+save('./mat/controllers.mat', 'K', 'K_iff', '-append');
+
+%% Light Sample
+initializeSample(struct('mass', 50));
+initializeNanoHexapod(struct('actuator', 'piezo'));
+
+%% Vertical Configuration
+initializeInputs();
+G_vert_init = identifyPlant();
+
+initializeInputs(struct('Rz', 90));
+G_vert_turn = identifyPlant();
+
+%% Tilted configuration
+initializeInputs(struct('Ry', 3));
+G_tilt_init = identifyPlant();
+
+initializeInputs(struct('Ry', 3, 'Rz', 90));
+G_tilt_turn = identifyPlant();
+
+%% Save
+save('./mat/id_plant_variation.mat', 'G_vert_init', 'G_vert_turn', 'G_tilt_init', 'G_tilt_turn')

identification/id_plant_variation_plots.m

@@ -0,0 +1,24 @@
+%%
+clear; close all; clc;
+
+%% Load
+load('./mat/id_plant_variation.mat', 'G_vert_init', 'G_vert_turn', 'G_tilt_init', 'G_tilt_turn')
+
+%%
+bodeFig({G_vert_init.G_dleg(1, 1), ...
+         G_vert_init.G_dleg(2, 2), ...
+         G_vert_init.G_dleg(3, 3), ...
+         G_vert_init.G_dleg(4, 4), ...
+         G_vert_init.G_dleg(5, 5), ...
+         G_vert_init.G_dleg(6, 6)}, struct('phase', true));
+xlim([1, 500]);
+
+%%
+bodeFig({G_vert_init.G_dleg(1, 1), ...
+         G_vert_turn.G_dleg(1, 1),}, struct('phase', true));
+xlim([1, 500]);
+
+%%
+bodeFig({G_vert_init.G_dleg(1, 1), ...
+         G_tilt_init.G_dleg(1, 1),}, struct('phase', true));
+xlim([1, 500]);