18 lines
551 B
Matlab
18 lines
551 B
Matlab
%%
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clear; close all; clc;
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%% Load Plant
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load('./mat/G_iff.mat', 'G_iff_light_vc', 'G_iff_light_pz', 'G_iff_heavy_vc', 'G_iff_heavy_pz');
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%%
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fs = 10;
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K_light_vc_iff = generateDiagPidControl(G_iff_light_vc.G_cart, fs);
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K_light_pz_iff = generateDiagPidControl(G_iff_light_pz.G_cart, fs);
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K_heavy_vc_iff = generateDiagPidControl(G_iff_heavy_vc.G_cart, fs);
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K_heavy_pz_iff = generateDiagPidControl(G_iff_heavy_pz.G_cart, fs);
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%% Save the MIMO control
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save('./mat/K_fb_iff.mat', 'K_light_vc_iff', 'K_light_pz_iff', 'K_heavy_vc_iff', 'K_heavy_pz_iff');
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