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
23 lines
533 B
Matlab
23 lines
533 B
Matlab
%%
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clear; close all; clc;
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%% Load the identified transfer functions
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load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%%
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s = tf('s');
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%%
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% sisotool(-G_heavy_pz.G_iff('Fm1', 'F1')/s)
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K_iff_light_vc = 48/s*tf(eye(6));
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K_iff_light_pz = 1500/s*tf(eye(6));
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K_iff_heavy_vc = 20/s*tf(eye(6));
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K_iff_heavy_pz = 535/s*tf(eye(6));
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%%
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save('./mat/K_iff_crit.mat', 'K_iff_light_vc', 'K_iff_light_pz', 'K_iff_heavy_vc', 'K_iff_heavy_pz');
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