7575aee987
Lot's of new things: - try to use less .mat files - computation of setpoint and error in the cartesian frame fixed to the granite - change of base to have the errors w.r.t. the NASS base - add script to plot setpoint, position and error
28 lines
666 B
Matlab
28 lines
666 B
Matlab
%%
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clear; close all; clc;
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%%
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K_iff = tf(zeros(6));
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save('./mat/controllers.mat', 'K_iff', '-append');
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%% Light Sample
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initializeSample(struct('mass', 1));
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initializeNanoHexapod(struct('actuator', 'lorentz'));
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G_light_vc = identifyPlant();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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G_light_pz = identifyPlant();
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%% Heavy Sample
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initializeSample(struct('mass', 50));
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initializeNanoHexapod(struct('actuator', 'lorentz'));
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G_heavy_vc = identifyPlant();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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G_heavy_pz = identifyPlant();
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%% Save the obtained transfer functions
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save('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
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