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Update all the functions

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This commit is contained in:
Thomas Dehaeze 2019-12-06 12:03:34 +01:00
parent 7032f05ef5
commit f73becd5c9
27 changed files with 111 additions and 184 deletions
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mat/K_fb.mat
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mat/config.mat
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mat/controllers.mat
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mat/inputs.mat
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mat/perturbations.mat
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mat/stages.mat
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src/computePsdDispl.m
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% computePsdDispl % computePsdDispl
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle src/computePsdDispl.m % :header-args:matlab+: :tangle ../src/computePsdDispl.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:computePsdDispl>> % <<sec:computePsdDispl>>
% This Matlab function is accessible [[file:src/computePsdDispl.m][here]]. % This Matlab function is accessible [[file:../src/computePsdDispl.m][here]].
function [psd_object] = computePsdDispl(sys_data, t_init, n_av) function [psd_object] = computePsdDispl(sys_data, t_init, n_av)

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src/computeSetpoint.m
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% computeSetpoint % computeSetpoint
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle src/computeSetpoint.m % :header-args:matlab+: :tangle ../src/computeSetpoint.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:computeSetpoint>> % <<sec:computeSetpoint>>
% This Matlab function is accessible [[file:src/computeSetpoint.m][here]]. % This Matlab function is accessible [[file:../src/computeSetpoint.m][here]].
function setpoint = computeSetpoint(ty, ry, rz) function setpoint = computeSetpoint(ty, ry, rz)

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src/converErrorBasis.m
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@ -1,12 +1,12 @@
% converErrorBasis % converErrorBasis
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle src/converErrorBasis.m % :header-args:matlab+: :tangle ../src/converErrorBasis.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:converErrorBasis>> % <<sec:converErrorBasis>>
% This Matlab function is accessible [[file:src/converErrorBasis.m][here]]. % This Matlab function is accessible [[file:../src/converErrorBasis.m][here]].
function error_nass = convertErrorBasis(pos, setpoint, ty, ry, rz) function error_nass = convertErrorBasis(pos, setpoint, ty, ry, rz)

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src/generateDiagPidControl.m
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% generateDiagPidControl % generateDiagPidControl
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle src/generateDiagPidControl.m % :header-args:matlab+: :tangle ../src/generateDiagPidControl.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:generateDiagPidControl>> % <<sec:generateDiagPidControl>>
% This Matlab function is accessible [[file:src/generateDiagPidControl.m][here]]. % This Matlab function is accessible [[file:../src/generateDiagPidControl.m][here]].
function [K] = generateDiagPidControl(G, fs) function [K] = generateDiagPidControl(G, fs)

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src/init_simulation.m
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@ -1,19 +0,0 @@
% Simulation Initialization
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/init_simulation.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:init_simulation>>
% This Matlab script is accessible [[file:../src/init_simulation.m][here]].
% This script runs just before the simulation is started.
% It is used to load the simulation configuration and the controllers used for the simulation.
%% Load all the data used for the simulation
load('sim_conf.mat');
%% Load Controller
load('controllers.mat');

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src/initializeAxisc.m
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@ -1,10 +1,10 @@
% Center of gravity compensation % Center of gravity compensation
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeAxisc.m % :header-args:matlab+: :tangle ../src/initializeAxisc.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:initializeAxisc>> % <<sec:initializeAxisc>>
% This Matlab function is accessible [[file:../src/initializeAxisc.m][here]]. % This Matlab function is accessible [[file:../src/initializeAxisc.m][here]].

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src/initializeCedratPiezo.m
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@ -1,10 +1,10 @@
% Cedrat Actuator % Cedrat Actuator
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeCedratPiezo.m % :header-args:matlab+: :tangle ../src/initializeCedratPiezo.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:initializeCedratPiezo>> % <<sec:initializeCedratPiezo>>
% This Matlab function is accessible [[file:../src/initializeCedratPiezo.m][here]]. % This Matlab function is accessible [[file:../src/initializeCedratPiezo.m][here]].
@ -25,8 +25,8 @@ function [cedrat] = initializeCedratPiezo(opts_param)
cedrat.k = 10e7; % Linear Stiffness of each "blade" [N/m] cedrat.k = 10e7; % Linear Stiffness of each "blade" [N/m]
cedrat.ka = 10e7; % Linear Stiffness of the stack [N/m] cedrat.ka = 10e7; % Linear Stiffness of the stack [N/m]
cedrat.c = 0.1*sqrt(50*cedrat.k); % [N/(m/s)] cedrat.c = 0.1*sqrt(1*cedrat.k); % [N/(m/s)]
cedrat.ca = 0.1*sqrt(50*cedrat.ka); % [N/(m/s)] cedrat.ca = 0.1*sqrt(1*cedrat.ka); % [N/(m/s)]
cedrat.L = 80; % Total Width of the Actuator[mm] cedrat.L = 80; % Total Width of the Actuator[mm]
cedrat.H = 45; % Total Height of the Actuator [mm] cedrat.H = 45; % Total Height of the Actuator [mm]

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src/initializeExperiment.m
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% Experiment % Experiment
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeExperiment.m % :header-args:matlab+: :tangle ../src/initializeExperiment.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:initializeExperiment>> % <<sec:initializeExperiment>>
% This Matlab function is accessible [[file:../src/initializeExperiment.m][here]]. % This Matlab function is accessible [[file:../src/initializeExperiment.m][here]].
function [] = initializeExperiment(exp_name, sys_mass) function [] = initializeExperiment(exp_name, sys_mass)
if strcmp(exp_name, 'tomography') if strcmp(exp_name, 'tomography')
opts_sim = struct(...
'Tsim', 5, ...
'cl_time', 5 ...
);
initializeSimConf(opts_sim);
if strcmp(sys_mass, 'light') if strcmp(sys_mass, 'light')
opts_inputs = struct(... opts_inputs = struct(...
'Dw', true, ... 'Dw', true, ...

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src/initializeGranite.m
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% Granite % Granite
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeGranite.m % :header-args:matlab+: :tangle ../src/initializeGranite.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:initializeGranite>> % <<sec:initializeGranite>>
% This Matlab function is accessible [[file:../src/initializeGranite.m][here]]. % This Matlab function is accessible [[file:../src/initializeGranite.m][here]].

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src/initializeGround.m
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% Ground % Ground
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeGround.m % :header-args:matlab+: :tangle ../src/initializeGround.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:initializeGround>> % <<sec:initializeGround>>
% This Matlab function is accessible [[file:../src/initializeGround.m][here]]. % This Matlab function is accessible [[file:../src/initializeGround.m][here]].

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src/initializeInputs.m
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@ -1,10 +1,12 @@
% Inputs % TODO Inputs
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeInputs.m % :header-args:matlab+: :tangle ../src/initializeInputs.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:initializeInputs>> % <<sec:initializeInputs>>
% - [ ] *This function should not be used anymore*. Now there are two functions to initialize disturbances and references.
% This Matlab function is accessible [[file:../src/initializeInputs.m][here]]. % This Matlab function is accessible [[file:../src/initializeInputs.m][here]].

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src/initializeMicroHexapod.m
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@ -1,10 +1,10 @@
% Micro Hexapod % Micro Hexapod
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeMicroHexapod.m % :header-args:matlab+: :tangle ../src/initializeMicroHexapod.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:initializeMicroHexapod>> % <<sec:initializeMicroHexapod>>
% This Matlab function is accessible [[file:../src/initializeMicroHexapod.m][here]]. % This Matlab function is accessible [[file:../src/initializeMicroHexapod.m][here]].

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src/initializeMirror.m
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@ -1,10 +1,10 @@
% Mirror % Mirror
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeMirror.m % :header-args:matlab+: :tangle ../src/initializeMirror.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:initializeMirror>> % <<sec:initializeMirror>>
% This Matlab function is accessible [[file:../src/initializeMirror.m][here]]. % This Matlab function is accessible [[file:../src/initializeMirror.m][here]].

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src/initializeNanoHexapod.m
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@ -1,10 +1,10 @@
% Nano Hexapod % Nano Hexapod
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeNanoHexapod.m % :header-args:matlab+: :tangle ../src/initializeNanoHexapod.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:initializeNanoHexapod>> % <<sec:initializeNanoHexapod>>
% This Matlab function is accessible [[file:../src/initializeNanoHexapod.m][here]]. % This Matlab function is accessible [[file:../src/initializeNanoHexapod.m][here]].

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src/initializeRy.m
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@ -1,10 +1,10 @@
% Tilt Stage % Tilt Stage
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeRy.m % :header-args:matlab+: :tangle ../src/initializeRy.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:initializeRy>> % <<sec:initializeRy>>
% This Matlab function is accessible [[file:../src/initializeRy.m][here]]. % This Matlab function is accessible [[file:../src/initializeRy.m][here]].

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src/initializeRz.m
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@ -1,10 +1,10 @@
% Spindle % Spindle
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeRz.m % :header-args:matlab+: :tangle ../src/initializeRz.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:initializeRz>> % <<sec:initializeRz>>
% This Matlab function is accessible [[file:../src/initializeRz.m][here]]. % This Matlab function is accessible [[file:../src/initializeRz.m][here]].

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src/initializeSample.m
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% Sample % Sample
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeSample.m % :header-args:matlab+: :tangle ../src/initializeSample.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:initializeSample>> % <<sec:initializeSample>>
% This Matlab function is accessible [[file:../src/initializeSample.m][here]]. % This Matlab function is accessible [[file:../src/initializeSample.m][here]].

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src/initializeSimConf.m
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@ -1,44 +0,0 @@
% Simulation Configuration
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeSimConf.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeSimConf>>
% This Matlab function is accessible [[file:../src/initializeSimConf.m][here]].
function [] = initializeSimConf(opts_param)
%% Default values for opts
opts = struct('Ts', 1e-4, ... % Sampling time [s]
'Tsim', 10, ... % Simulation time [s]
'cl_time', 0, ... % Close Loop time [s]
'gravity', false ... % Gravity along the z axis
);
%% Populate opts with input parameters
if exist('opts_param','var')
for opt = fieldnames(opts_param)'
opts.(opt{1}) = opts_param.(opt{1});
end
end
%%
sim_conf = struct();
%%
sim_conf.Ts = opts.Ts;
sim_conf.Tsim = opts.Tsim;
sim_conf.cl_time = opts.cl_time;
%% Gravity
if opts.gravity
sim_conf.g = -9.8; %#ok
else
sim_conf.g = 0; %#ok
end
%% Save
save('./mat/sim_conf.mat', 'sim_conf');
end

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src/initializeTy.m
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@ -1,10 +1,10 @@
% Translation Stage % Translation Stage
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeTy.m % :header-args:matlab+: :tangle ../src/initializeTy.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:initializeTy>> % <<sec:initializeTy>>
% This Matlab function is accessible [[file:../src/initializeTy.m][here]]. % This Matlab function is accessible [[file:../src/initializeTy.m][here]].

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src/project_startup.m
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@ -3,12 +3,6 @@
% When the project opens, a startup script is ran. % When the project opens, a startup script is ran.
% The startup script is defined below and is exported to the =project_startup.m= script. % The startup script is defined below and is exported to the =project_startup.m= script.
%%
freqs = logspace(-1, 3, 1000);
save_fig = false;
save('./mat/config.mat', 'freqs', 'save_fig');
%%
project = simulinkproject; project = simulinkproject;
projectRoot = project.RootFolder; projectRoot = project.RootFolder;

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src/runSimulation.m
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@ -1,56 +1,56 @@
% runSimulation % runSimulation
% :PROPERTIES: % :PROPERTIES:
% :header-args:matlab+: :tangle src/runSimulation.m % :header-args:matlab+: :tangle ../src/runSimulation.m
% :header-args:matlab+: :comments org :mkdirp yes % :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none % :header-args:matlab+: :eval no :results none
% :END: % :END:
% <<sec:runSimulation>> % <<sec:runSimulation>>
% This Matlab function is accessible [[file:src/runSimulation.m][here]]. % This Matlab function is accessible [[file:../src/runSimulation.m][here]].
function [] = runSimulation(sys_name, sys_mass, ctrl_type, act_damp) function [] = runSimulation(sys_name, sys_mass, ctrl_type, act_damp)
%% Load the controller and save it for the simulation %% Load the controller and save it for the simulation
if strcmp(ctrl_type, 'cl') && strcmp(act_damp, 'none') if strcmp(ctrl_type, 'cl') && strcmp(act_damp, 'none')
K_obj = load('./mat/K_fb.mat'); K_obj = load('./mat/K_fb.mat');
K = K_obj.(sprintf('K_%s_%s', sys_mass, sys_name)); %#ok K = K_obj.(sprintf('K_%s_%s', sys_mass, sys_name)); %#ok
save('./mat/controllers.mat', 'K'); save('./mat/controllers.mat', 'K');
elseif strcmp(ctrl_type, 'cl') && strcmp(act_damp, 'iff') elseif strcmp(ctrl_type, 'cl') && strcmp(act_damp, 'iff')
K_obj = load('./mat/K_fb_iff.mat'); K_obj = load('./mat/K_fb_iff.mat');
K = K_obj.(sprintf('K_%s_%s_iff', sys_mass, sys_name)); %#ok K = K_obj.(sprintf('K_%s_%s_iff', sys_mass, sys_name)); %#ok
save('./mat/controllers.mat', 'K'); save('./mat/controllers.mat', 'K');
elseif strcmp(ctrl_type, 'ol') elseif strcmp(ctrl_type, 'ol')
K = tf(zeros(6)); %#ok K = tf(zeros(6)); %#ok
save('./mat/controllers.mat', 'K'); save('./mat/controllers.mat', 'K');
else else
error('ctrl_type should be cl or ol'); error('ctrl_type should be cl or ol');
end end
%% Active Damping %% Active Damping
if strcmp(act_damp, 'iff') if strcmp(act_damp, 'iff')
K_iff_crit = load('./mat/K_iff_crit.mat'); K_iff_crit = load('./mat/K_iff_crit.mat');
K_iff = K_iff_crit.(sprintf('K_iff_%s_%s', sys_mass, sys_name)); %#ok K_iff = K_iff_crit.(sprintf('K_iff_%s_%s', sys_mass, sys_name)); %#ok
save('./mat/controllers.mat', 'K_iff', '-append'); save('./mat/controllers.mat', 'K_iff', '-append');
elseif strcmp(act_damp, 'none') elseif strcmp(act_damp, 'none')
K_iff = tf(zeros(6)); %#ok K_iff = tf(zeros(6)); %#ok
save('./mat/controllers.mat', 'K_iff', '-append'); save('./mat/controllers.mat', 'K_iff', '-append');
end end
%% %%
if strcmp(sys_name, 'pz') if strcmp(sys_name, 'pz')
initializeNanoHexapod(struct('actuator', 'piezo')); initializeNanoHexapod(struct('actuator', 'piezo'));
elseif strcmp(sys_name, 'vc') elseif strcmp(sys_name, 'vc')
initializeNanoHexapod(struct('actuator', 'lorentz')); initializeNanoHexapod(struct('actuator', 'lorentz'));
else else
error('sys_name should be pz or vc'); error('sys_name should be pz or vc');
end end
if strcmp(sys_mass, 'light') if strcmp(sys_mass, 'light')
initializeSample(struct('mass', 1)); initializeSample(struct('mass', 1));
elseif strcmp(sys_mass, 'heavy') elseif strcmp(sys_mass, 'heavy')
initializeSample(struct('mass', 50)); initializeSample(struct('mass', 50));
else else
error('sys_mass should be light or heavy'); error('sys_mass should be light or heavy');
end end
%% Run the simulation %% Run the simulation