#+TITLE: HAC-LAC applied on the Simscape Model
:DRAWER:
#+STARTUP: overview

#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas

#+HTML_LINK_HOME: ../index.html
#+HTML_LINK_UP: ../index.html

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#+HTML_MATHJAX: align: center tagside: right font: TeX

#+PROPERTY: header-args:matlab  :session *MATLAB*
#+PROPERTY: header-args:matlab+ :comments org
#+PROPERTY: header-args:matlab+ :results none
#+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :output-dir figs
#+PROPERTY: header-args:matlab+ :tangle no
#+PROPERTY: header-args:matlab+ :mkdirp yes

#+PROPERTY: header-args:shell  :eval no-export

#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/}{config.tex}")
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports both
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :output-dir figs
:END:

* Undamped System
<<sec:undamped_system>>

** Introduction                                                      :ignore:

** Matlab Init                                              :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
  <<matlab-dir>>
#+end_src

#+begin_src matlab :exports none :results silent :noweb yes
  <<matlab-init>>
#+end_src

#+begin_src matlab :tangle no
  simulinkproject('../');
#+end_src

#+begin_src matlab
  open('hac_lac/matlab/sim_nass_hac_lac.slx')
#+end_src

** Identification of the plant
*** Initialize the Simulation
We initialize all the stages with the default parameters.
#+begin_src matlab
  initializeGround();
  initializeGranite();
  initializeTy();
  initializeRy();
  initializeRz();
  initializeMicroHexapod();
  initializeAxisc();
  initializeMirror();
#+end_src

The nano-hexapod is a piezoelectric hexapod and the sample has a mass of 50kg.
#+begin_src matlab
  initializeNanoHexapod('actuator', 'piezo');
  initializeSample('mass', 50);
#+end_src

No disturbances.
#+begin_src matlab
  initializeDisturbances('enable', false);
#+end_src

We set the references to zero.
#+begin_src matlab
  initializeReferences();
#+end_src

And all the controllers are set to 0.
#+begin_src matlab
  K = tf(zeros(6));
  save('./mat/controllers.mat', 'K', '-append');
  K_ine = tf(zeros(6));
  save('./mat/controllers.mat', 'K_ine', '-append');
  K_iff = tf(zeros(6));
  save('./mat/controllers.mat', 'K_iff', '-append');
  K_dvf = tf(zeros(6));
  save('./mat/controllers.mat', 'K_dvf', '-append');
#+end_src

*** Identification
First, we identify the dynamics of the system using the =linearize= function.
#+begin_src matlab
  %% Options for Linearized
  options = linearizeOptions;
  options.SampleTime = 0;

  %% Name of the Simulink File
  mdl = 'sim_nass_hac_lac';

  %% Input/Output definition
  clear io; io_i = 1;
  io(io_i) = linio([mdl, '/HAC'],                        1, 'openinput');  io_i = io_i + 1;
  io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;

  %% Run the linearization
  G = linearize(mdl, io, options);
  G.InputName  = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
  G.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
#+end_src

#+begin_src matlab
  load('mat/stages.mat', 'nano_hexapod');
  G_cart = minreal(G*inv(nano_hexapod.J'));
  G_cart.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
#+end_src

#+begin_src matlab
  G_legs = minreal(inv(nano_hexapod.J)*G);
  G_legs.OutputName = {'e1', 'e2', 'e3', 'e4', 'e5', 'e6'};
#+end_src

# And we save them for further analysis.
# #+begin_src matlab
#   save('./hac_lac/mat/undamped_plant.mat', 'G');
# #+end_src

*** Display TF
#+begin_src matlab :exports none
  freqs = logspace(0, 3, 1000);

  figure;

  ax1 = subplot(2, 1, 1);
  hold on;
  for i = 1:6
    plot(freqs, abs(squeeze(freqresp(G_cart(i, i), freqs, 'Hz'))));
  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 = 1:6
    plot(freqs, 180/pi*angle(squeeze(freqresp(G_cart(i, i), freqs, 'Hz'))), 'DisplayName', [G_cart.InputName{i}, ' to ', G_cart.OutputName{i}]);
  end
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
  ylim([-180, 180]);
  yticks([-180, -90, 0, 90, 180]);
  legend('location', 'southwest');

  linkaxes([ax1,ax2],'x');
#+end_src

#+HEADER: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/plant_G_cart.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
  <<plt-matlab>>
#+end_src

#+NAME: fig:plant_G_cart
#+CAPTION: Transfer Function from forces applied by the nano-hexapod to position error ([[./figs/plant_G_cart.png][png]], [[./figs/plant_G_cart.pdf][pdf]])
[[file:figs/plant_G_cart.png]]

#+begin_src matlab :exports none
  freqs = logspace(0, 3, 1000);

  figure;

  ax1 = subplot(2, 1, 1);
  hold on;
  for i = 1:6
    plot(freqs, abs(squeeze(freqresp(G_legs(['e', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  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 = 1:6
    plot(freqs, 180/pi*angle(squeeze(freqresp(G_legs(['e', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  end
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
  ylim([-180, 180]);
  yticks([-180, -90, 0, 90, 180]);

  linkaxes([ax1,ax2],'x');
#+end_src

*** Obtained Plants for Active Damping
#+begin_src matlab :exports none
  freqs = logspace(0, 3, 1000);

  figure;

  ax1 = subplot(2, 1, 1);
  hold on;
  for i = 1:6
    plot(freqs, abs(squeeze(freqresp(G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  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 = 1:6
    plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  end
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
  ylim([-180, 180]);
  yticks([-180, -90, 0, 90, 180]);

  linkaxes([ax1,ax2],'x');
#+end_src

#+HEADER: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/nass_active_damping_iff_plant.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
<<plt-matlab>>
#+end_src

#+NAME: fig:nass_active_damping_iff_plant
#+CAPTION: =G_iff=: IFF Plant ([[./figs/nass_active_damping_iff_plant.png][png]], [[./figs/nass_active_damping_iff_plant.pdf][pdf]])
[[file:figs/nass_active_damping_iff_plant.png]]

#+begin_src matlab :exports none
  freqs = logspace(0, 3, 1000);

  figure;

  ax1 = subplot(2, 1, 1);
  hold on;
  for i = 1:6
    plot(freqs, abs(squeeze(freqresp(G_dvf(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  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 = 1:6
    plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  end
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
  ylim([-180, 180]);
  yticks([-180, -90, 0, 90, 180]);

  linkaxes([ax1,ax2],'x');
#+end_src

#+HEADER: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/nass_active_damping_dvf_plant.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
<<plt-matlab>>
#+end_src

#+NAME: fig:nass_active_damping_dvf_plant
#+CAPTION: =G_dvf=: Plant for Direct Velocity Feedback ([[./figs/nass_active_damping_dvf_plant.png][png]], [[./figs/nass_active_damping_dvf_plant.pdf][pdf]])
[[file:figs/nass_active_damping_ine_plant.png]]

#+begin_src matlab :exports none
  freqs = logspace(0, 3, 1000);

  figure;

  ax1 = subplot(2, 1, 1);
  hold on;
  for i = 1:6
    plot(freqs, abs(squeeze(freqresp(G_ine(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  end
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
  ylabel('Amplitude [$\frac{m/s}{N}$]'); set(gca, 'XTickLabel',[]);

  ax2 = subplot(2, 1, 2);
  hold on;
  for i = 1:6
    plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  end
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
  ylim([-180, 180]);
  yticks([-180, -90, 0, 90, 180]);

  linkaxes([ax1,ax2],'x');
#+end_src

#+HEADER: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/nass_active_damping_inertial_plant.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
<<plt-matlab>>
#+end_src

#+NAME: fig:nass_active_damping_inertial_plant
#+CAPTION: Inertial Feedback Plant ([[./figs/nass_active_damping_inertial_plant.png][png]], [[./figs/nass_active_damping_inertial_plant.pdf][pdf]])
[[file:figs/nass_active_damping_inertial_plant.png]]

** Tomography Experiment
*** Simulation
We initialize elements for the tomography experiment.
#+begin_src matlab
  prepareTomographyExperiment();
#+end_src

We change the simulation stop time.
#+begin_src matlab
  load('mat/conf_simscape.mat');
  set_param(conf_simscape, 'StopTime', '3');
#+end_src

And we simulate the system.
#+begin_src matlab
  sim('sim_nass_active_damping');
#+end_src

Finally, we save the simulation results for further analysis
#+begin_src matlab
  save('./active_damping/mat/tomo_exp.mat', 'En', 'Eg', '-append');
#+end_src

*** Results
We load the results of tomography experiments.
#+begin_src matlab
  load('./active_damping/mat/tomo_exp.mat', 'En');
  t = linspace(0, 3, length(En(:,1)));
#+end_src

#+begin_src matlab :exports none
  figure;
  hold on;
  plot(t, En(:,1), 'DisplayName', '$\epsilon_{x}$')
  plot(t, En(:,2), 'DisplayName', '$\epsilon_{y}$')
  plot(t, En(:,3), 'DisplayName', '$\epsilon_{z}$')
  hold off;
  legend();
  xlabel('Time [s]'); ylabel('Position Error [m]');
#+end_src

#+HEADER: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/nass_act_damp_undamped_sim_tomo_trans.pdf" :var figsize="wide-normal" :post pdf2svg(file=*this*, ext="png")
<<plt-matlab>>
#+end_src

#+NAME: fig:nass_act_damp_undamped_sim_tomo_trans
#+CAPTION: Position Error during tomography experiment - Translations ([[./figs/nass_act_damp_undamped_sim_tomo_trans.png][png]], [[./figs/nass_act_damp_undamped_sim_tomo_trans.pdf][pdf]])
[[file:figs/nass_act_damp_undamped_sim_tomo_trans.png]]

#+begin_src matlab :exports none
  figure;
  hold on;
  plot(t, En(:,4), 'DisplayName', '$\epsilon_{\theta_x}$')
  plot(t, En(:,5), 'DisplayName', '$\epsilon_{\theta_y}$')
  plot(t, En(:,6), 'DisplayName', '$\epsilon_{\theta_z}$')
  hold off;
  xlim([0.5,inf]);
  legend();
  xlabel('Time [s]'); ylabel('Position Error [rad]');
#+end_src

#+HEADER: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/nass_act_damp_undamped_sim_tomo_rot.pdf" :var figsize="wide-normal" :post pdf2svg(file=*this*, ext="png")
<<plt-matlab>>
#+end_src

#+NAME: fig:nass_act_damp_undamped_sim_tomo_rot
#+CAPTION: Position Error during tomography experiment - Rotations ([[./figs/nass_act_damp_undamped_sim_tomo_rot.png][png]], [[./figs/nass_act_damp_undamped_sim_tomo_rot.pdf][pdf]])
[[file:figs/nass_act_damp_undamped_sim_tomo_rot.png]]
** Verification of the transfer function from nano hexapod to metrology
*** Initialize the Simulation
We initialize all the stages with the default parameters.
#+begin_src matlab
  initializeGround();
  initializeGranite();
  initializeTy();
  initializeRy();
  initializeRz();
  initializeMicroHexapod();
  initializeAxisc();
  initializeMirror();
#+end_src

The nano-hexapod is a piezoelectric hexapod and the sample has a mass of 50kg.
#+begin_src matlab
  initializeNanoHexapod('actuator', 'piezo');
  initializeSample('mass', 50);
#+end_src

No disturbances.
#+begin_src matlab
  initializeDisturbances('enable', false);
#+end_src

We set the references to zero.
#+begin_src matlab
  initializeReferences();
#+end_src

And all the controllers are set to 0.
#+begin_src matlab
  K = tf(zeros(6));
  save('./mat/controllers.mat', 'K', '-append');
  K_ine = tf(zeros(6));
  save('./mat/controllers.mat', 'K_ine', '-append');
  K_iff = tf(zeros(6));
  save('./mat/controllers.mat', 'K_iff', '-append');
  K_dvf = tf(zeros(6));
  save('./mat/controllers.mat', 'K_dvf', '-append');
#+end_src

*** Identification
First, we identify the dynamics of the system using the =linearize= function.
#+begin_src matlab
  %% Options for Linearized
  options = linearizeOptions;
  options.SampleTime = 0;

  %% Name of the Simulink File
  mdl = 'sim_nass_hac_lac';

  %% Input/Output definition
  clear io; io_i = 1;
  io(io_i) = linio([mdl, '/HAC'],                        1, 'openinput');  io_i = io_i + 1;
  io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;

  %% Run the linearization
  G = linearize(mdl, io, options);
  G.InputName  = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
  G.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
#+end_src

#+begin_src matlab
  load('mat/stages.mat', 'nano_hexapod');
  G_cart = minreal(G*inv(nano_hexapod.J'));
  G_cart.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
#+end_src

#+begin_src matlab
  G_legs = minreal(inv(nano_hexapod.J)*G);
  G_legs.OutputName = {'e1', 'e2', 'e3', 'e4', 'e5', 'e6'};
#+end_src

# And we save them for further analysis.
# #+begin_src matlab
#   save('./hac_lac/mat/undamped_plant.mat', 'G');
# #+end_src

*** Display TF
#+begin_src matlab :exports none
  freqs = logspace(0, 3, 1000);

  figure;

  ax1 = subplot(2, 1, 1);
  hold on;
  for i = 1:6
    plot(freqs, abs(squeeze(freqresp(G_cart(i, i), freqs, 'Hz'))));
  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 = 1:6
    plot(freqs, 180/pi*angle(squeeze(freqresp(G_cart(i, i), freqs, 'Hz'))), 'DisplayName', [G_cart.InputName{i}, ' to ', G_cart.OutputName{i}]);
  end
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
  ylim([-180, 180]);
  yticks([-180, -90, 0, 90, 180]);
  legend();

  linkaxes([ax1,ax2],'x');
#+end_src

#+HEADER: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/plant_G_cart.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
  <<plt-matlab>>
#+end_src

#+NAME: fig:plant_G_cart
#+CAPTION: Transfer Function from forces applied by the nano-hexapod to position error ([[./figs/plant_G_cart.png][png]], [[./figs/plant_G_cart.pdf][pdf]])
[[file:figs/plant_G_cart.png]]

#+begin_src matlab :exports none
  freqs = logspace(0, 3, 1000);

  figure;

  ax1 = subplot(2, 1, 1);
  hold on;
  for i = 1:6
    plot(freqs, abs(squeeze(freqresp(G_legs(['e', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  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 = 1:6
    plot(freqs, 180/pi*angle(squeeze(freqresp(G_legs(['e', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  end
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
  ylim([-180, 180]);
  yticks([-180, -90, 0, 90, 180]);

  linkaxes([ax1,ax2],'x');
#+end_src

*** Obtained Plants for Active Damping
#+begin_src matlab :exports none
  freqs = logspace(0, 3, 1000);

  figure;

  ax1 = subplot(2, 1, 1);
  hold on;
  for i = 1:6
    plot(freqs, abs(squeeze(freqresp(G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  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 = 1:6
    plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  end
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
  ylim([-180, 180]);
  yticks([-180, -90, 0, 90, 180]);

  linkaxes([ax1,ax2],'x');
#+end_src

#+HEADER: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/nass_active_damping_iff_plant.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
<<plt-matlab>>
#+end_src

#+NAME: fig:nass_active_damping_iff_plant
#+CAPTION: =G_iff=: IFF Plant ([[./figs/nass_active_damping_iff_plant.png][png]], [[./figs/nass_active_damping_iff_plant.pdf][pdf]])
[[file:figs/nass_active_damping_iff_plant.png]]

#+begin_src matlab :exports none
  freqs = logspace(0, 3, 1000);

  figure;

  ax1 = subplot(2, 1, 1);
  hold on;
  for i = 1:6
    plot(freqs, abs(squeeze(freqresp(G_dvf(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  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 = 1:6
    plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  end
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
  ylim([-180, 180]);
  yticks([-180, -90, 0, 90, 180]);

  linkaxes([ax1,ax2],'x');
#+end_src

#+HEADER: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/nass_active_damping_dvf_plant.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
<<plt-matlab>>
#+end_src

#+NAME: fig:nass_active_damping_dvf_plant
#+CAPTION: =G_dvf=: Plant for Direct Velocity Feedback ([[./figs/nass_active_damping_dvf_plant.png][png]], [[./figs/nass_active_damping_dvf_plant.pdf][pdf]])
[[file:figs/nass_active_damping_ine_plant.png]]

#+begin_src matlab :exports none
  freqs = logspace(0, 3, 1000);

  figure;

  ax1 = subplot(2, 1, 1);
  hold on;
  for i = 1:6
    plot(freqs, abs(squeeze(freqresp(G_ine(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  end
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
  ylabel('Amplitude [$\frac{m/s}{N}$]'); set(gca, 'XTickLabel',[]);

  ax2 = subplot(2, 1, 2);
  hold on;
  for i = 1:6
    plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
  end
  hold off;
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
  ylim([-180, 180]);
  yticks([-180, -90, 0, 90, 180]);

  linkaxes([ax1,ax2],'x');
#+end_src

#+HEADER: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/nass_active_damping_inertial_plant.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
<<plt-matlab>>
#+end_src

#+NAME: fig:nass_active_damping_inertial_plant
#+CAPTION: Inertial Feedback Plant ([[./figs/nass_active_damping_inertial_plant.png][png]], [[./figs/nass_active_damping_inertial_plant.pdf][pdf]])
[[file:figs/nass_active_damping_inertial_plant.png]]