24 lines
451 B
Matlab
24 lines
451 B
Matlab
%%
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clear; close all; clc;
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%% Load Plant
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load('./mat/G_xg_to_d.mat', 'G_xg_to_d');
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load('./mat/G_f_to_d.mat', 'G_1', 'G_20', 'G_50');
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load('./mat/controller.mat', 'K');
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%%
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S = minreal(inv(tf(eye(6))+G_20*K));
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T = minreal((tf(eye(6))+G_20*K)\G_20*K);
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bodeFig({S(1,1), T(1,1)})
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legend({'$S_x$', '$T_x$'})
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bodeFig({S(2,2), T(2,2)})
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legend({'$S_y$', '$T_y$'})
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bodeFig({S(3,3), T(3,3)})
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legend({'$S_z$', '$T_z$'})
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%%
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save('./mat/T_S.mat', 'S', 'T');
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