56 lines
1.0 KiB
Matlab
56 lines
1.0 KiB
Matlab
%%
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clear; close all; clc;
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%% Load Plant
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load('./mat/G_f_to_d.mat', 'G_20');
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%% Load previously generated controllers
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load('./mat/control_K_tx.mat', 'K_tx');
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load('./mat/control_K_ty.mat', 'K_ty');
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load('./mat/control_K_tz.mat', 'K_tz');
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load('./mat/control_K_rx.mat', 'K_rx');
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load('./mat/control_K_ry.mat', 'K_ry');
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load('./mat/control_K_rz.mat', 'K_rz');
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%%
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sisotool('bode', G_20(1, 1), K_tx);
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K_tx = C;
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save('./mat/control_K_tx.mat', 'K_tx');
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%%
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sisotool('bode', G_20(2, 2), K_ty);
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K_ty = C;
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save('./mat/control_K_ty.mat', 'K_ty');
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%%
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sisotool('bode', G_20(3, 3), K_tz);
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K_tz = C;
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save('./mat/control_K_tz.mat', 'K_tz');
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%%
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sisotool('bode', G_20(4, 4), K_rx);
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K_rx = C;
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save('./mat/control_K_rx.mat', 'K_rx');
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%%
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sisotool('bode', G_20(5, 5), K_ry);
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K_ry = C;
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save('./mat/control_K_ry.mat', 'K_ry');
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%%
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sisotool('bode', G_20(6, 6), K_rz);
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K_rz = C;
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save('./mat/control_K_rz.mat', 'K_rz');
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%%
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K = tf(zeros(6));
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K(1,1) = K_tx;
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K(2,2) = K_ty;
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K(3,3) = K_tz;
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K(4,4) = K_rx;
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K(5,5) = K_ry;
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K(6,6) = K_rz;
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%% Save the MIMO control
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save('./mat/controller.mat', 'K');
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