tdehaeze/nass-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity
1125a9b1ea
nass-simscape/identification/index.html
Thomas Dehaeze 1125a9b1ea [major-change] start to change the axis of all stages to match id31 
The idea is have the world frame the same as the one defined for id31.
Also all the actuators should actuate in the positive direction of the axes
2019-12-13 09:31:19 +01:00

776 lines
70 KiB
HTML
Raw Blame History

<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2019-12-12 jeu. 13:54 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Identification</title>
<meta name="generator" content="Org mode" />
<meta name="author" content="Dehaeze Thomas" />
<style type="text/css">
<!--/*--><![CDATA[/*><!--*/
.title { text-align: center;
margin-bottom: .2em; }
.subtitle { text-align: center;
font-size: medium;
font-weight: bold;
margin-top:0; }
.todo { font-family: monospace; color: red; }
.done { font-family: monospace; color: green; }
.priority { font-family: monospace; color: orange; }
.tag { background-color: #eee; font-family: monospace;
padding: 2px; font-size: 80%; font-weight: normal; }
.timestamp { color: #bebebe; }
.timestamp-kwd { color: #5f9ea0; }
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
.underline { text-decoration: underline; }
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
p.verse { margin-left: 3%; }
pre {
border: 1px solid #ccc;
box-shadow: 3px 3px 3px #eee;
padding: 8pt;
font-family: monospace;
overflow: auto;
margin: 1.2em;
}
pre.src {
position: relative;
overflow: visible;
padding-top: 1.2em;
}
pre.src:before {
display: none;
position: absolute;
background-color: white;
top: -10px;
right: 10px;
padding: 3px;
border: 1px solid black;
}
pre.src:hover:before { display: inline;}
/* Languages per Org manual */
pre.src-asymptote:before { content: 'Asymptote'; }
pre.src-awk:before { content: 'Awk'; }
pre.src-C:before { content: 'C'; }
/* pre.src-C++ doesn't work in CSS */
pre.src-clojure:before { content: 'Clojure'; }
pre.src-css:before { content: 'CSS'; }
pre.src-D:before { content: 'D'; }
pre.src-ditaa:before { content: 'ditaa'; }
pre.src-dot:before { content: 'Graphviz'; }
pre.src-calc:before { content: 'Emacs Calc'; }
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
pre.src-fortran:before { content: 'Fortran'; }
pre.src-gnuplot:before { content: 'gnuplot'; }
pre.src-haskell:before { content: 'Haskell'; }
pre.src-hledger:before { content: 'hledger'; }
pre.src-java:before { content: 'Java'; }
pre.src-js:before { content: 'Javascript'; }
pre.src-latex:before { content: 'LaTeX'; }
pre.src-ledger:before { content: 'Ledger'; }
pre.src-lisp:before { content: 'Lisp'; }
pre.src-lilypond:before { content: 'Lilypond'; }
pre.src-lua:before { content: 'Lua'; }
pre.src-matlab:before { content: 'MATLAB'; }
pre.src-mscgen:before { content: 'Mscgen'; }
pre.src-ocaml:before { content: 'Objective Caml'; }
pre.src-octave:before { content: 'Octave'; }
pre.src-org:before { content: 'Org mode'; }
pre.src-oz:before { content: 'OZ'; }
pre.src-plantuml:before { content: 'Plantuml'; }
pre.src-processing:before { content: 'Processing.js'; }
pre.src-python:before { content: 'Python'; }
pre.src-R:before { content: 'R'; }
pre.src-ruby:before { content: 'Ruby'; }
pre.src-sass:before { content: 'Sass'; }
pre.src-scheme:before { content: 'Scheme'; }
pre.src-screen:before { content: 'Gnu Screen'; }
pre.src-sed:before { content: 'Sed'; }
pre.src-sh:before { content: 'shell'; }
pre.src-sql:before { content: 'SQL'; }
pre.src-sqlite:before { content: 'SQLite'; }
/* additional languages in org.el's org-babel-load-languages alist */
pre.src-forth:before { content: 'Forth'; }
pre.src-io:before { content: 'IO'; }
pre.src-J:before { content: 'J'; }
pre.src-makefile:before { content: 'Makefile'; }
pre.src-maxima:before { content: 'Maxima'; }
pre.src-perl:before { content: 'Perl'; }
pre.src-picolisp:before { content: 'Pico Lisp'; }
pre.src-scala:before { content: 'Scala'; }
pre.src-shell:before { content: 'Shell Script'; }
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
/* additional language identifiers per "defun org-babel-execute"
in ob-*.el */
pre.src-cpp:before { content: 'C++'; }
pre.src-abc:before { content: 'ABC'; }
pre.src-coq:before { content: 'Coq'; }
pre.src-groovy:before { content: 'Groovy'; }
/* additional language identifiers from org-babel-shell-names in
ob-shell.el: ob-shell is the only babel language using a lambda to put
the execution function name together. */
pre.src-bash:before { content: 'bash'; }
pre.src-csh:before { content: 'csh'; }
pre.src-ash:before { content: 'ash'; }
pre.src-dash:before { content: 'dash'; }
pre.src-ksh:before { content: 'ksh'; }
pre.src-mksh:before { content: 'mksh'; }
pre.src-posh:before { content: 'posh'; }
/* Additional Emacs modes also supported by the LaTeX listings package */
pre.src-ada:before { content: 'Ada'; }
pre.src-asm:before { content: 'Assembler'; }
pre.src-caml:before { content: 'Caml'; }
pre.src-delphi:before { content: 'Delphi'; }
pre.src-html:before { content: 'HTML'; }
pre.src-idl:before { content: 'IDL'; }
pre.src-mercury:before { content: 'Mercury'; }
pre.src-metapost:before { content: 'MetaPost'; }
pre.src-modula-2:before { content: 'Modula-2'; }
pre.src-pascal:before { content: 'Pascal'; }
pre.src-ps:before { content: 'PostScript'; }
pre.src-prolog:before { content: 'Prolog'; }
pre.src-simula:before { content: 'Simula'; }
pre.src-tcl:before { content: 'tcl'; }
pre.src-tex:before { content: 'TeX'; }
pre.src-plain-tex:before { content: 'Plain TeX'; }
pre.src-verilog:before { content: 'Verilog'; }
pre.src-vhdl:before { content: 'VHDL'; }
pre.src-xml:before { content: 'XML'; }
pre.src-nxml:before { content: 'XML'; }
/* add a generic configuration mode; LaTeX export needs an additional
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
pre.src-conf:before { content: 'Configuration File'; }
table { border-collapse:collapse; }
caption.t-above { caption-side: top; }
caption.t-bottom { caption-side: bottom; }
td, th { vertical-align:top; }
th.org-right { text-align: center; }
th.org-left { text-align: center; }
th.org-center { text-align: center; }
td.org-right { text-align: right; }
td.org-left { text-align: left; }
td.org-center { text-align: center; }
dt { font-weight: bold; }
.footpara { display: inline; }
.footdef { margin-bottom: 1em; }
.figure { padding: 1em; }
.figure p { text-align: center; }
.equation-container {
display: table;
text-align: center;
width: 100%;
}
.equation {
vertical-align: middle;
}
.equation-label {
display: table-cell;
text-align: right;
vertical-align: middle;
}
.inlinetask {
padding: 10px;
border: 2px solid gray;
margin: 10px;
background: #ffffcc;
}
#org-div-home-and-up
{ text-align: right; font-size: 70%; white-space: nowrap; }
textarea { overflow-x: auto; }
.linenr { font-size: smaller }
.code-highlighted { background-color: #ffff00; }
.org-info-js_info-navigation { border-style: none; }
#org-info-js_console-label
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
.org-info-js_search-highlight
{ background-color: #ffff00; color: #000000; font-weight: bold; }
.org-svg { width: 90%; }
/*]]>*/-->
</style>
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
<link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
<link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
<script type="text/javascript" src="../js/jquery.min.js"></script>
<script type="text/javascript" src="../js/bootstrap.min.js"></script>
<script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
<script type="text/javascript" src="../js/readtheorg.js"></script>
<script type="text/javascript">
/*
@licstart The following is the entire license notice for the
JavaScript code in this tag.
Copyright (C) 2012-2019 Free Software Foundation, Inc.
The JavaScript code in this tag is free software: you can
redistribute it and/or modify it under the terms of the GNU
General Public License (GNU GPL) as published by the Free Software
Foundation, either version 3 of the License, or (at your option)
any later version. The code is distributed WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
As additional permission under GNU GPL version 3 section 7, you
may distribute non-source (e.g., minimized or compacted) forms of
that code without the copy of the GNU GPL normally required by
section 4, provided you include this license notice and a URL
through which recipients can access the Corresponding Source.
@licend The above is the entire license notice
for the JavaScript code in this tag.
*/
<!--/*--><![CDATA[/*><!--*/
function CodeHighlightOn(elem, id)
{
var target = document.getElementById(id);
if(null != target) {
elem.cacheClassElem = elem.className;
elem.cacheClassTarget = target.className;
target.className = "code-highlighted";
elem.className = "code-highlighted";
}
}
function CodeHighlightOff(elem, id)
{
var target = document.getElementById(id);
if(elem.cacheClassElem)
elem.className = elem.cacheClassElem;
if(elem.cacheClassTarget)
target.className = elem.cacheClassTarget;
}
/*]]>*///-->
</script>
</head>
<body>
<div id="org-div-home-and-up">
<a accesskey="h" href="../index.html"> UP </a>
|
<a accesskey="H" href="../index.html"> HOME </a>
</div><div id="content">
<h1 class="title">Identification</h1>
<div id="table-of-contents">
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#org5535be8">1. Identification of the Micro-Station</a>
<ul>
<li><a href="#orgeb4caf2">1.1. Compute the transfer functions</a></li>
<li><a href="#orga6d8893">1.2. Plots the transfer functions</a></li>
<li><a href="#org9c2b20b">1.3. Compare with the measurements</a></li>
</ul>
</li>
<li><a href="#org7ebba44">2. Modal Analysis of the Micro-Station</a>
<ul>
<li><a href="#org144c94f">2.1. Simscape Model</a></li>
<li><a href="#org13089bd">2.2. Plot Results</a></li>
<li><a href="#orga83a056">2.3. Compare with measurements</a></li>
</ul>
</li>
<li><a href="#org3c7a9b8">3. Compare with measurements at the CoM of each element</a>
<ul>
<li><a href="#orga77333e">3.1. Init</a></li>
<li><a href="#org528446b">3.2. <span class="todo TODO">TODO</span> Center of Mass of each solid body</a></li>
<li><a href="#org0c4a656">3.3. Simscape Model</a></li>
<li><a href="#org6a6f29d">3.4. Compare with measurements</a></li>
</ul>
</li>
<li><a href="#orga61d09b">4. Other analysis</a>
<ul>
<li><a href="#orgffb60dd">4.1. Plot the obtained transfer functions</a></li>
<li><a href="#org5f9eec6">4.2. Compare with the modal measurements</a></li>
<li><a href="#orga829744">4.3. Modal Identification of the micro station</a></li>
</ul>
</li>
</ul>
</div>
</div>
<p>
The goal here is to make an identification of the <b>micro-station</b> in order to compare the model with the measurements on the real micro-station.
</p>
<p>
In order to do so:
</p>
<ul class="org-ul">
<li>Decide where to virtually excite the station and where to measure its motion</li>
<li>Extract transfer functions from the excitation forces to the measured motion</li>
<li>Compare those transfer functions with the modal analysis</li>
</ul>
<p>
For the excitation, we can choose the same excitation points as the one used for the modal test.
For the measurement points, we can choose the Center of Mass of each solid body.
The center of mass of each solid body is not easily defined using Simscape.
Indeed, we can define the center of mass of any solid body but not of multiple solid bodies. However, one solid body is composed of multiple STEP files.
One solution could be to use one STEP file for one solid body.
However, the position of the center of mass can be exported using simulink and then defined on Simscape.
</p>
<div id="outline-container-org5535be8" class="outline-2">
<h2 id="org5535be8"><span class="section-number-2">1</span> Identification of the Micro-Station</h2>
<div class="outline-text-2" id="text-1">
</div>
<div id="outline-container-orgeb4caf2" class="outline-3">
<h3 id="orgeb4caf2"><span class="section-number-3">1.1</span> Compute the transfer functions</h3>
<div class="outline-text-3" id="text-1-1">
<p>
We first define some parameters for the identification.
The simulink file for the identification is <code>sim_micro_station_id.slx</code>.
</p>
<div class="org-src-container">
<pre class="src src-matlab">open<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'identification/matlab/sim_micro_station_id.slx'</span><span class="org-rainbow-delimiters-depth-1">)</span>
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
options = linearizeOptions;
options.SampleTime = <span class="org-highlight-numbers-number">0</span>;
<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
mdl = <span class="org-string">'sim_micro_station_id'</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Micro-Hexapod</span></span>
<span class="org-comment">% Input/Output definition</span>
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/Fm_ext'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'openinput'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/Fg_ext'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'openinput'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/Dm_inertial'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">4</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/Ty_inertial'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">5</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/Ry_inertial'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">6</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/Dg_inertial'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-comment">% Run the linearization</span>
G_ms = linearize<span class="org-rainbow-delimiters-depth-1">(</span>mdl, io, <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-comment">% Input/Output names</span>
G_ms.InputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'Fmx'</span>, <span class="org-string">'Fmy'</span>, <span class="org-string">'Fmz'</span>,...
<span class="org-string">'Fgx'</span>, <span class="org-string">'Fgy'</span>, <span class="org-string">'Fgz'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
G_ms.OutputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'Dmx'</span>, <span class="org-string">'Dmy'</span>, <span class="org-string">'Dmz'</span>, ...
<span class="org-string">'Tyx'</span>, <span class="org-string">'Tyy'</span>, <span class="org-string">'Tyz'</span>, ...
<span class="org-string">'Ryx'</span>, <span class="org-string">'Ryy'</span>, <span class="org-string">'Ryz'</span>, ...
<span class="org-string">'Dgx'</span>, <span class="org-string">'Dgy'</span>, <span class="org-string">'Dgz'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Save the obtained transfer functions</span></span>
save<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'./mat/id_micro_station.mat'</span>, <span class="org-string">'G_ms'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
</div>
</div>
<div id="outline-container-orga6d8893" class="outline-3">
<h3 id="orga6d8893"><span class="section-number-3">1.2</span> Plots the transfer functions</h3>
</div>
<div id="outline-container-org9c2b20b" class="outline-3">
<h3 id="org9c2b20b"><span class="section-number-3">1.3</span> Compare with the measurements</h3>
</div>
</div>
<div id="outline-container-org7ebba44" class="outline-2">
<h2 id="org7ebba44"><span class="section-number-2">2</span> Modal Analysis of the Micro-Station</h2>
<div class="outline-text-2" id="text-2">
</div>
<div id="outline-container-org144c94f" class="outline-3">
<h3 id="org144c94f"><span class="section-number-3">2.1</span> Simscape Model</h3>
<div class="outline-text-3" id="text-2-1">
<div class="org-src-container">
<pre class="src src-matlab">open<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'identification/matlab/sim_micro_station_modal_analysis.slx'</span><span class="org-rainbow-delimiters-depth-1">)</span>
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
options = linearizeOptions;
options.SampleTime = <span class="org-highlight-numbers-number">0</span>;
<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
mdl = <span class="org-string">'sim_micro_station_modal_analysis'</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Micro-Hexapod</span></span>
<span class="org-comment">% Input/Output definition</span>
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/F_hammer'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'openinput'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/acc9'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/acc10'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">4</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/acc11'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">5</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/acc12'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-comment">% Run the linearization</span>
G_ms = linearize<span class="org-rainbow-delimiters-depth-1">(</span>mdl, io, <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-comment">% Input/Output names</span>
G_ms.InputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'Fx'</span>, <span class="org-string">'Fy'</span>, <span class="org-string">'Fz'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
G_ms.OutputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'x9'</span>, <span class="org-string">'y9'</span>, <span class="org-string">'z9'</span>, ...
<span class="org-string">'x10'</span>, <span class="org-string">'y10'</span>, <span class="org-string">'z10'</span>, ...
<span class="org-string">'x11'</span>, <span class="org-string">'y11'</span>, <span class="org-string">'z11'</span>, ...
<span class="org-string">'x12'</span>, <span class="org-string">'y12'</span>, <span class="org-string">'z12'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
</pre>
</div>
</div>
</div>
<div id="outline-container-org13089bd" class="outline-3">
<h3 id="org13089bd"><span class="section-number-3">2.2</span> Plot Results</h3>
<div class="outline-text-3" id="text-2-2">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>freqs, abs<span class="org-rainbow-delimiters-depth-2">(</span>squeeze<span class="org-rainbow-delimiters-depth-3">(</span>freqresp<span class="org-rainbow-delimiters-depth-4">(</span>G_ms<span class="org-rainbow-delimiters-depth-5">(</span><span class="org-string">'x9'</span>, <span class="org-string">'Fx'</span><span class="org-rainbow-delimiters-depth-5">)</span>, freqs, <span class="org-string">'Hz'</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'XScale'</span>, <span class="org-string">'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'YScale'</span>, <span class="org-string">'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ylabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Amplitude </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">m/N</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
</pre>
</div>
</div>
</div>
<div id="outline-container-orga83a056" class="outline-3">
<h3 id="orga83a056"><span class="section-number-3">2.3</span> Compare with measurements</h3>
<div class="outline-text-3" id="text-2-3">
<div class="org-src-container">
<pre class="src src-matlab">load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'../meas/modal-analysis/mat/frf_coh_matrices.mat'</span>, <span class="org-string">'FRFs'</span>, <span class="org-string">'COHs'</span>, <span class="org-string">'freqs'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">dirs = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'x'</span>, <span class="org-string">'y'</span>, <span class="org-string">'z'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
n_acc = <span class="org-highlight-numbers-number">9</span>;
n_dir = <span class="org-highlight-numbers-number">1</span>; <span class="org-comment">% x, y, z</span>
n_exc = <span class="org-highlight-numbers-number">1</span>; <span class="org-comment">% x, y, z</span>
<span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>freqs, abs<span class="org-rainbow-delimiters-depth-2">(</span>squeeze<span class="org-rainbow-delimiters-depth-3">(</span>FRFs<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">3</span><span class="org-type">*</span><span class="org-rainbow-delimiters-depth-5">(</span>n_acc<span class="org-type">-</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-5">)</span> <span class="org-type">+</span> n_dir, n_exc, <span class="org-type">:</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">./</span><span class="org-rainbow-delimiters-depth-2">(</span><span class="org-rainbow-delimiters-depth-3">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>freqs<span class="org-rainbow-delimiters-depth-3">)</span><span class="org-type">.^</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>freqs, abs<span class="org-rainbow-delimiters-depth-2">(</span>squeeze<span class="org-rainbow-delimiters-depth-3">(</span>freqresp<span class="org-rainbow-delimiters-depth-4">(</span>G_ms<span class="org-rainbow-delimiters-depth-5">(</span><span class="org-rainbow-delimiters-depth-6">[</span>dirs<span class="org-rainbow-delimiters-depth-7">{</span>n_dir<span class="org-rainbow-delimiters-depth-7">}</span>, num2str<span class="org-rainbow-delimiters-depth-7">(</span>n_acc<span class="org-rainbow-delimiters-depth-7">)</span><span class="org-rainbow-delimiters-depth-6">]</span>, <span class="org-rainbow-delimiters-depth-6">[</span><span class="org-string">'F'</span>, dirs<span class="org-rainbow-delimiters-depth-7">{</span>n_dir<span class="org-rainbow-delimiters-depth-7">}</span><span class="org-rainbow-delimiters-depth-6">]</span><span class="org-rainbow-delimiters-depth-5">)</span>, freqs, <span class="org-string">'Hz'</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'XScale'</span>, <span class="org-string">'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'YScale'</span>, <span class="org-string">'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ylabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Amplitude </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">m/N</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
</pre>
</div>
</div>
</div>
</div>
<div id="outline-container-org3c7a9b8" class="outline-2">
<h2 id="org3c7a9b8"><span class="section-number-2">3</span> Compare with measurements at the CoM of each element</h2>
<div class="outline-text-2" id="text-3">
</div>
<div id="outline-container-orga77333e" class="outline-3">
<h3 id="orga77333e"><span class="section-number-3">3.1</span> Init</h3>
<div class="outline-text-3" id="text-3-1">
<div class="org-src-container">
<pre class="src src-matlab">initializeGround<span class="org-rainbow-delimiters-depth-1">()</span>;
initializeGranite<span class="org-rainbow-delimiters-depth-1">()</span>;
initializeTy<span class="org-rainbow-delimiters-depth-1">()</span>;
initializeRy<span class="org-rainbow-delimiters-depth-1">()</span>;
initializeRz<span class="org-rainbow-delimiters-depth-1">()</span>;
initializeMicroHexapod<span class="org-rainbow-delimiters-depth-1">()</span>;
initializeAxisc<span class="org-rainbow-delimiters-depth-1">()</span>;
</pre>
</div>
</div>
</div>
<div id="outline-container-org528446b" class="outline-3">
<h3 id="org528446b"><span class="section-number-3">3.2</span> <span class="todo TODO">TODO</span> Center of Mass of each solid body</h3>
<div class="outline-text-3" id="text-3-2">
<ul class="org-ul">
<li class="off"><code>[&#xa0;]</code> Verify that this is coherent with the simscape and with the measurements</li>
</ul>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-right" />
<col class="org-right" />
<col class="org-right" />
<col class="org-right" />
<col class="org-right" />
<col class="org-right" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">&#xa0;</th>
<th scope="col" class="org-right">granite bot</th>
<th scope="col" class="org-right">granite top</th>
<th scope="col" class="org-right">ty</th>
<th scope="col" class="org-right">ry</th>
<th scope="col" class="org-right">rz</th>
<th scope="col" class="org-right">hexa</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">X [mm]</td>
<td class="org-right">45</td>
<td class="org-right">52</td>
<td class="org-right">0</td>
<td class="org-right">0</td>
<td class="org-right">0</td>
<td class="org-right">-4</td>
</tr>
<tr>
<td class="org-left">Y [mm]</td>
<td class="org-right">144</td>
<td class="org-right">258</td>
<td class="org-right">14</td>
<td class="org-right">-5</td>
<td class="org-right">0</td>
<td class="org-right">6</td>
</tr>
<tr>
<td class="org-left">Z [mm]</td>
<td class="org-right">-1251</td>
<td class="org-right">-778</td>
<td class="org-right">-600</td>
<td class="org-right">-628</td>
<td class="org-right">-580</td>
<td class="org-right">-319</td>
</tr>
</tbody>
</table>
<div class="org-src-container">
<pre class="src src-matlab">open<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'identification/matlab/sim_micro_station_modal_analysis_com.slx'</span><span class="org-rainbow-delimiters-depth-1">)</span>
</pre>
</div>
</div>
</div>
<div id="outline-container-org0c4a656" class="outline-3">
<h3 id="org0c4a656"><span class="section-number-3">3.3</span> Simscape Model</h3>
<div class="outline-text-3" id="text-3-3">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
options = linearizeOptions;
options.SampleTime = <span class="org-highlight-numbers-number">0</span>;
<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
mdl = <span class="org-string">'sim_micro_station_modal_analysis_com'</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Micro-Hexapod</span></span>
<span class="org-comment">% Input/Output definition</span>
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/F_hammer'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'openinput'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/acc_gtop'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/acc_ty'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">4</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/acc_ry'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">5</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/acc_rz'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">6</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Micro-Station/acc_hexa'</span><span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-highlight-numbers-number">1</span>,<span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-comment">% Run the linearization</span>
G_ms = linearize<span class="org-rainbow-delimiters-depth-1">(</span>mdl, io, <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-comment">% Input/Output names</span>
G_ms.InputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'Fx'</span>, <span class="org-string">'Fy'</span>, <span class="org-string">'Fz'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
G_ms.OutputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'gtop_x'</span>, <span class="org-string">'gtop_y'</span>, <span class="org-string">'gtop_z'</span>, <span class="org-string">'gtop_rx'</span>, <span class="org-string">'gtop_ry'</span>, <span class="org-string">'gtop_rz'</span>, ...
<span class="org-string">'ty_x'</span>, <span class="org-string">'ty_y'</span>, <span class="org-string">'ty_z'</span>, <span class="org-string">'ty_rx'</span>, <span class="org-string">'ty_ry'</span>, <span class="org-string">'ty_rz'</span>, ...
<span class="org-string">'ry_x'</span>, <span class="org-string">'ry_y'</span>, <span class="org-string">'ry_z'</span>, <span class="org-string">'ry_rx'</span>, <span class="org-string">'ry_ry'</span>, <span class="org-string">'ry_rz'</span>, ...
<span class="org-string">'rz_x'</span>, <span class="org-string">'rz_y'</span>, <span class="org-string">'rz_z'</span>, <span class="org-string">'rz_rx'</span>, <span class="org-string">'rz_ry'</span>, <span class="org-string">'rz_rz'</span>, ...
<span class="org-string">'hexa_x'</span>, <span class="org-string">'hexa_y'</span>, <span class="org-string">'hexa_z'</span>, <span class="org-string">'hexa_rx'</span>, <span class="org-string">'hexa_ry'</span>, <span class="org-string">'hexa_rz'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
</pre>
</div>
</div>
</div>
<div id="outline-container-org6a6f29d" class="outline-3">
<h3 id="org6a6f29d"><span class="section-number-3">3.4</span> Compare with measurements</h3>
<div class="outline-text-3" id="text-3-4">
<div class="org-src-container">
<pre class="src src-matlab">load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'../meas/modal-analysis/mat/frf_coh_matrices.mat'</span>, <span class="org-string">'freqs'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'../meas/modal-analysis/mat/frf_com.mat'</span>, <span class="org-string">'FRFs_CoM'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">dirs = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'x'</span>, <span class="org-string">'y'</span>, <span class="org-string">'z'</span>, <span class="org-string">'rx'</span>, <span class="org-string">'ry'</span>, <span class="org-string">'rz'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
stages = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'gbot'</span>, <span class="org-string">'gtop'</span>, <span class="org-string">'ty'</span>, <span class="org-string">'ry'</span>, <span class="org-string">'rz'</span>, <span class="org-string">'hexa'</span><span class="org-rainbow-delimiters-depth-1">}</span>
n_stg = <span class="org-highlight-numbers-number">2</span>;
n_dir = <span class="org-highlight-numbers-number">5</span>; <span class="org-comment">% x, y, z, Rx, Ry, Rz</span>
n_exc = <span class="org-highlight-numbers-number">2</span>; <span class="org-comment">% x, y, z</span>
f = logspace<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">3</span>, <span class="org-highlight-numbers-number">1000</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>freqs, abs<span class="org-rainbow-delimiters-depth-2">(</span>squeeze<span class="org-rainbow-delimiters-depth-3">(</span>FRFs_CoM<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">6</span><span class="org-type">*</span><span class="org-rainbow-delimiters-depth-5">(</span>n_stg<span class="org-type">-</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-5">)</span> <span class="org-type">+</span> n_dir, n_exc, <span class="org-type">:</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">./</span><span class="org-rainbow-delimiters-depth-2">(</span><span class="org-rainbow-delimiters-depth-3">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>freqs<span class="org-rainbow-delimiters-depth-3">)</span><span class="org-type">.^</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, abs<span class="org-rainbow-delimiters-depth-2">(</span>squeeze<span class="org-rainbow-delimiters-depth-3">(</span>freqresp<span class="org-rainbow-delimiters-depth-4">(</span>G_ms<span class="org-rainbow-delimiters-depth-5">(</span><span class="org-rainbow-delimiters-depth-6">[</span>stages<span class="org-rainbow-delimiters-depth-7">{</span>n_stg<span class="org-rainbow-delimiters-depth-7">}</span>, <span class="org-string">'_'</span>, dirs<span class="org-rainbow-delimiters-depth-7">{</span>n_dir<span class="org-rainbow-delimiters-depth-7">}</span><span class="org-rainbow-delimiters-depth-6">]</span>, <span class="org-rainbow-delimiters-depth-6">[</span><span class="org-string">'F'</span>, dirs<span class="org-rainbow-delimiters-depth-7">{</span>n_exc<span class="org-rainbow-delimiters-depth-7">}</span><span class="org-rainbow-delimiters-depth-6">]</span><span class="org-rainbow-delimiters-depth-5">)</span>, f, <span class="org-string">'Hz'</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'XScale'</span>, <span class="org-string">'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'YScale'</span>, <span class="org-string">'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ylabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Amplitude </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">m/N</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">200</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">dirs = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'x'</span>, <span class="org-string">'y'</span>, <span class="org-string">'z'</span>, <span class="org-string">'rx'</span>, <span class="org-string">'ry'</span>, <span class="org-string">'rz'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
stages = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'gtop'</span>, <span class="org-string">'ty'</span>, <span class="org-string">'ry'</span>, <span class="org-string">'rz'</span>, <span class="org-string">'hexa'</span><span class="org-rainbow-delimiters-depth-1">}</span>
f = logspace<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">3</span>, <span class="org-highlight-numbers-number">1000</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">figure</span>;
<span class="org-keyword">for</span> <span class="org-variable-name">n_stg</span> = <span class="org-constant"><span class="org-highlight-numbers-number">1</span></span><span class="org-constant">:</span><span class="org-constant"><span class="org-highlight-numbers-number">2</span></span>
<span class="org-keyword">for</span> <span class="org-variable-name">n_dir</span> = <span class="org-constant"><span class="org-highlight-numbers-number">1</span></span><span class="org-constant">:</span><span class="org-constant"><span class="org-highlight-numbers-number">3</span></span>
subplot<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">3</span>, <span class="org-highlight-numbers-number">2</span>, <span class="org-rainbow-delimiters-depth-2">(</span>n_dir<span class="org-type">-</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">*</span><span class="org-highlight-numbers-number">2</span> <span class="org-type">+</span> n_stg<span class="org-rainbow-delimiters-depth-1">)</span>;
title<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-string">'F '</span>, dirs<span class="org-rainbow-delimiters-depth-3">{</span>n_dir<span class="org-rainbow-delimiters-depth-3">}</span>, <span class="org-string">' to '</span>, stages<span class="org-rainbow-delimiters-depth-3">{</span>n_stg<span class="org-rainbow-delimiters-depth-3">}</span>, <span class="org-string">' '</span>, dirs<span class="org-rainbow-delimiters-depth-3">{</span>n_dir<span class="org-rainbow-delimiters-depth-3">}</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>freqs, abs<span class="org-rainbow-delimiters-depth-2">(</span>squeeze<span class="org-rainbow-delimiters-depth-3">(</span>FRFs_CoM<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">6</span><span class="org-type">*</span><span class="org-rainbow-delimiters-depth-5">(</span>n_stg<span class="org-rainbow-delimiters-depth-5">)</span> <span class="org-type">+</span> n_dir, n_dir, <span class="org-type">:</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">./</span><span class="org-rainbow-delimiters-depth-2">(</span><span class="org-rainbow-delimiters-depth-3">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>freqs<span class="org-rainbow-delimiters-depth-3">)</span><span class="org-type">.^</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, abs<span class="org-rainbow-delimiters-depth-2">(</span>squeeze<span class="org-rainbow-delimiters-depth-3">(</span>freqresp<span class="org-rainbow-delimiters-depth-4">(</span>G_ms<span class="org-rainbow-delimiters-depth-5">(</span><span class="org-rainbow-delimiters-depth-6">[</span>stages<span class="org-rainbow-delimiters-depth-7">{</span>n_stg<span class="org-rainbow-delimiters-depth-7">}</span>, <span class="org-string">'_'</span>, dirs<span class="org-rainbow-delimiters-depth-7">{</span>n_dir<span class="org-rainbow-delimiters-depth-7">}</span><span class="org-rainbow-delimiters-depth-6">]</span>, <span class="org-rainbow-delimiters-depth-6">[</span><span class="org-string">'F'</span>, dirs<span class="org-rainbow-delimiters-depth-7">{</span>n_dir<span class="org-rainbow-delimiters-depth-7">}</span><span class="org-rainbow-delimiters-depth-6">]</span><span class="org-rainbow-delimiters-depth-5">)</span>, f, <span class="org-string">'Hz'</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'XScale'</span>, <span class="org-string">'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'YScale'</span>, <span class="org-string">'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ylabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Amplitude </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">m/N</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-keyword">if</span> n_dir <span class="org-type">==</span> <span class="org-highlight-numbers-number">3</span>
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Frequency </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">Hz</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-keyword">end</span>
hold off;
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">10</span>, <span class="org-highlight-numbers-number">1000</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ylim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">1e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">12</span>, <span class="org-highlight-numbers-number">1e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-keyword">end</span>
<span class="org-keyword">end</span>
</pre>
</div>
<div id="org0ac0932" class="figure">
<p><img src="figs/identification_comp_bot_stages.png" alt="identification_comp_bot_stages.png" />
</p>
<p><span class="figure-number">Figure 1: </span>caption (<a href="./figs/identification_comp_bot_stages.png">png</a>, <a href="./figs/identification_comp_bot_stages.pdf">pdf</a>)</p>
</div>
<div class="org-src-container">
<pre class="src src-matlab">dirs = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'x'</span>, <span class="org-string">'y'</span>, <span class="org-string">'z'</span>, <span class="org-string">'rx'</span>, <span class="org-string">'ry'</span>, <span class="org-string">'rz'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
stages = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'ry'</span>, <span class="org-string">'rz'</span>, <span class="org-string">'hexa'</span><span class="org-rainbow-delimiters-depth-1">}</span>
f = logspace<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">3</span>, <span class="org-highlight-numbers-number">1000</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">figure</span>;
<span class="org-keyword">for</span> <span class="org-variable-name">n_stg</span> = <span class="org-constant"><span class="org-highlight-numbers-number">1</span></span><span class="org-constant">:</span><span class="org-constant"><span class="org-highlight-numbers-number">2</span></span>
<span class="org-keyword">for</span> <span class="org-variable-name">n_dir</span> = <span class="org-constant"><span class="org-highlight-numbers-number">1</span></span><span class="org-constant">:</span><span class="org-constant"><span class="org-highlight-numbers-number">3</span></span>
subplot<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">3</span>, <span class="org-highlight-numbers-number">2</span>, <span class="org-rainbow-delimiters-depth-2">(</span>n_dir<span class="org-type">-</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">*</span><span class="org-highlight-numbers-number">2</span> <span class="org-type">+</span> n_stg<span class="org-rainbow-delimiters-depth-1">)</span>;
title<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-string">'F '</span>, dirs<span class="org-rainbow-delimiters-depth-3">{</span>n_dir<span class="org-rainbow-delimiters-depth-3">}</span>, <span class="org-string">' to '</span>, stages<span class="org-rainbow-delimiters-depth-3">{</span>n_stg<span class="org-rainbow-delimiters-depth-3">}</span>, <span class="org-string">' '</span>, dirs<span class="org-rainbow-delimiters-depth-3">{</span>n_dir<span class="org-rainbow-delimiters-depth-3">}</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>freqs, abs<span class="org-rainbow-delimiters-depth-2">(</span>squeeze<span class="org-rainbow-delimiters-depth-3">(</span>FRFs_CoM<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">6</span><span class="org-type">*</span><span class="org-rainbow-delimiters-depth-5">(</span>n_stg<span class="org-type">+</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-5">)</span> <span class="org-type">+</span> n_dir, n_dir, <span class="org-type">:</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">./</span><span class="org-rainbow-delimiters-depth-2">(</span><span class="org-rainbow-delimiters-depth-3">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>freqs<span class="org-rainbow-delimiters-depth-3">)</span><span class="org-type">.^</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, abs<span class="org-rainbow-delimiters-depth-2">(</span>squeeze<span class="org-rainbow-delimiters-depth-3">(</span>freqresp<span class="org-rainbow-delimiters-depth-4">(</span>G_ms<span class="org-rainbow-delimiters-depth-5">(</span><span class="org-rainbow-delimiters-depth-6">[</span>stages<span class="org-rainbow-delimiters-depth-7">{</span>n_stg<span class="org-rainbow-delimiters-depth-7">}</span>, <span class="org-string">'_'</span>, dirs<span class="org-rainbow-delimiters-depth-7">{</span>n_dir<span class="org-rainbow-delimiters-depth-7">}</span><span class="org-rainbow-delimiters-depth-6">]</span>, <span class="org-rainbow-delimiters-depth-6">[</span><span class="org-string">'F'</span>, dirs<span class="org-rainbow-delimiters-depth-7">{</span>n_dir<span class="org-rainbow-delimiters-depth-7">}</span><span class="org-rainbow-delimiters-depth-6">]</span><span class="org-rainbow-delimiters-depth-5">)</span>, f, <span class="org-string">'Hz'</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'XScale'</span>, <span class="org-string">'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'YScale'</span>, <span class="org-string">'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ylabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Amplitude </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">m/N</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-keyword">if</span> n_dir <span class="org-type">==</span> <span class="org-highlight-numbers-number">3</span>
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Frequency </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">Hz</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-keyword">end</span>
hold off;
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">10</span>, <span class="org-highlight-numbers-number">1000</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ylim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">1e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">12</span>, <span class="org-highlight-numbers-number">1e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-keyword">end</span>
<span class="org-keyword">end</span>
</pre>
</div>
<div id="orga6fecd1" class="figure">
<p><img src="figs/identification_comp_mid_stages.png" alt="identification_comp_mid_stages.png" />
</p>
<p><span class="figure-number">Figure 2: </span>caption (<a href="./figs/identification_comp_mid_stages.png">png</a>, <a href="./figs/identification_comp_mid_stages.pdf">pdf</a>)</p>
</div>
<div class="org-src-container">
<pre class="src src-matlab">dirs = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'x'</span>, <span class="org-string">'y'</span>, <span class="org-string">'z'</span>, <span class="org-string">'rx'</span>, <span class="org-string">'ry'</span>, <span class="org-string">'rz'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
stages = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'hexa'</span><span class="org-rainbow-delimiters-depth-1">}</span>
f = logspace<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">3</span>, <span class="org-highlight-numbers-number">1000</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">figure</span>;
<span class="org-keyword">for</span> <span class="org-variable-name">n_stg</span> = <span class="org-constant"><span class="org-highlight-numbers-number">1</span></span>
<span class="org-keyword">for</span> <span class="org-variable-name">n_dir</span> = <span class="org-constant"><span class="org-highlight-numbers-number">1</span></span><span class="org-constant">:</span><span class="org-constant"><span class="org-highlight-numbers-number">3</span></span>
subplot<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">3</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-rainbow-delimiters-depth-2">(</span>n_dir<span class="org-type">-</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">*</span><span class="org-highlight-numbers-number">2</span> <span class="org-type">+</span> n_stg<span class="org-rainbow-delimiters-depth-1">)</span>;
title<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-string">'F '</span>, dirs<span class="org-rainbow-delimiters-depth-3">{</span>n_dir<span class="org-rainbow-delimiters-depth-3">}</span>, <span class="org-string">' to '</span>, stages<span class="org-rainbow-delimiters-depth-3">{</span>n_stg<span class="org-rainbow-delimiters-depth-3">}</span>, <span class="org-string">' '</span>, dirs<span class="org-rainbow-delimiters-depth-3">{</span>n_dir<span class="org-rainbow-delimiters-depth-3">}</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>freqs, abs<span class="org-rainbow-delimiters-depth-2">(</span>squeeze<span class="org-rainbow-delimiters-depth-3">(</span>FRFs_CoM<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">6</span><span class="org-type">*</span><span class="org-rainbow-delimiters-depth-5">(</span>n_stg<span class="org-type">+</span><span class="org-highlight-numbers-number">4</span><span class="org-rainbow-delimiters-depth-5">)</span> <span class="org-type">+</span> n_dir, n_dir, <span class="org-type">:</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">./</span><span class="org-rainbow-delimiters-depth-2">(</span><span class="org-rainbow-delimiters-depth-3">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>freqs<span class="org-rainbow-delimiters-depth-3">)</span><span class="org-type">.^</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, abs<span class="org-rainbow-delimiters-depth-2">(</span>squeeze<span class="org-rainbow-delimiters-depth-3">(</span>freqresp<span class="org-rainbow-delimiters-depth-4">(</span>G_ms<span class="org-rainbow-delimiters-depth-5">(</span><span class="org-rainbow-delimiters-depth-6">[</span>stages<span class="org-rainbow-delimiters-depth-7">{</span>n_stg<span class="org-rainbow-delimiters-depth-7">}</span>, <span class="org-string">'_'</span>, dirs<span class="org-rainbow-delimiters-depth-7">{</span>n_dir<span class="org-rainbow-delimiters-depth-7">}</span><span class="org-rainbow-delimiters-depth-6">]</span>, <span class="org-rainbow-delimiters-depth-6">[</span><span class="org-string">'F'</span>, dirs<span class="org-rainbow-delimiters-depth-7">{</span>n_dir<span class="org-rainbow-delimiters-depth-7">}</span><span class="org-rainbow-delimiters-depth-6">]</span><span class="org-rainbow-delimiters-depth-5">)</span>, f, <span class="org-string">'Hz'</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'XScale'</span>, <span class="org-string">'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'YScale'</span>, <span class="org-string">'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ylabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Amplitude </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">m/N</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-keyword">if</span> n_dir <span class="org-type">==</span> <span class="org-highlight-numbers-number">3</span>
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Frequency </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">Hz</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-keyword">end</span>
hold off;
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">10</span>, <span class="org-highlight-numbers-number">1000</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ylim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">1e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">12</span>, <span class="org-highlight-numbers-number">1e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-keyword">end</span>
<span class="org-keyword">end</span>
</pre>
</div>
<div id="org55fa910" class="figure">
<p><img src="figs/identification_comp_top_stages.png" alt="identification_comp_top_stages.png" />
</p>
<p><span class="figure-number">Figure 3: </span>caption (<a href="./figs/identification_comp_top_stages.png">png</a>, <a href="./figs/identification_comp_top_stages.pdf">pdf</a>)</p>
</div>
</div>
</div>
</div>
<div id="outline-container-orga61d09b" class="outline-2">
<h2 id="orga61d09b"><span class="section-number-2">4</span> Other analysis</h2>
<div class="outline-text-2" id="text-4">
</div>
<div id="outline-container-orgffb60dd" class="outline-3">
<h3 id="orgffb60dd"><span class="section-number-3">4.1</span> Plot the obtained transfer functions</h3>
</div>
<div id="outline-container-org5f9eec6" class="outline-3">
<h3 id="org5f9eec6"><span class="section-number-3">4.2</span> Compare with the modal measurements</h3>
</div>
<div id="outline-container-orga829744" class="outline-3">
<h3 id="orga829744"><span class="section-number-3">4.3</span> Modal Identification of the micro station</h3>
</div>
</div>
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2019-12-12 jeu. 13:54</p>
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
</div>
</body>
</html>
Reference in New Issue View Git Blame Copy Permalink