From 3ea609f7ceb308e71f73b07912ef9a785e9f870c Mon Sep 17 00:00:00 2001
From: Thomas Dehaeze <dehaeze.thomas@gmail.com>
Date: Tue, 15 Apr 2025 14:07:45 +0200
Subject: [PATCH] Correct Matlab script

---
 matlab/rotating_7_nano_hexapod.m | 10 +++++-----
 matlab/rotating_8_nass.m         |  2 --
 nass-rotating-3dof-model.org     | 14 +++++---------
 3 files changed, 10 insertions(+), 16 deletions(-)

diff --git a/matlab/rotating_7_nano_hexapod.m b/matlab/rotating_7_nano_hexapod.m
index e9406cc..2abbef5 100644
--- a/matlab/rotating_7_nano_hexapod.m
+++ b/matlab/rotating_7_nano_hexapod.m
@@ -405,6 +405,11 @@ for kp_i = 1:length(kps_pz)
     opt_iff_kp_gain_pz(kp_i) = g_opt;
 end
 
+%% Find result with wanted parallel stiffness
+[~, i_kp_vc] = min(abs(kps_vc - 1e3));
+[~, i_kp_md] = min(abs(kps_md - 1e4));
+[~, i_kp_pz] = min(abs(kps_pz - 1e6));
+
 %% Define the obtained controllers
 Kiff_kp_vc = Kiff_vc*opt_iff_kp_gain_vc(i_kp_vc);
 Kiff_kp_vc.InputName  = {'fu', 'fv'};
@@ -418,11 +423,6 @@ Kiff_kp_pz = Kiff_pz*opt_iff_kp_gain_pz(i_kp_pz);
 Kiff_kp_pz.InputName  = {'fu', 'fv'};
 Kiff_kp_pz.OutputName = {'Fu', 'Fv'};
 
-%% Find result with wanted parallel stiffness
-[~, i_kp_vc] = min(abs(kps_vc - 1e3));
-[~, i_kp_md] = min(abs(kps_md - 1e4));
-[~, i_kp_pz] = min(abs(kps_pz - 1e6));
-
 %% Identify plants with choosen Parallel stiffnesses
 model_config.Tuv_type   = "parallel_k";    % Default: 2DoF stage
 
diff --git a/matlab/rotating_8_nass.m b/matlab/rotating_8_nass.m
index 6306e2b..245e1ef 100644
--- a/matlab/rotating_8_nass.m
+++ b/matlab/rotating_8_nass.m
@@ -465,6 +465,4 @@ xticks([1e-1, 1e0, 1e1, 1e2, 1e3]);
 xtickangle(0)
 ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1);
 ldg.ItemTokenSize = [20, 1];
-
-linkaxes([ax1,ax2,ax3], 'y')
 ylim([1e-8, 1e-2])
diff --git a/nass-rotating-3dof-model.org b/nass-rotating-3dof-model.org
index 0f452e6..0c0a182 100644
--- a/nass-rotating-3dof-model.org
+++ b/nass-rotating-3dof-model.org
@@ -3172,6 +3172,11 @@ end
 #+end_src
 
 #+begin_src matlab
+%% Find result with wanted parallel stiffness
+[~, i_kp_vc] = min(abs(kps_vc - 1e3));
+[~, i_kp_md] = min(abs(kps_md - 1e4));
+[~, i_kp_pz] = min(abs(kps_pz - 1e6));
+
 %% Define the obtained controllers
 Kiff_kp_vc = Kiff_vc*opt_iff_kp_gain_vc(i_kp_vc);
 Kiff_kp_vc.InputName  = {'fu', 'fv'};
@@ -3184,13 +3189,6 @@ Kiff_kp_md.OutputName = {'Fu', 'Fv'};
 Kiff_kp_pz = Kiff_pz*opt_iff_kp_gain_pz(i_kp_pz);
 Kiff_kp_pz.InputName  = {'fu', 'fv'};
 Kiff_kp_pz.OutputName = {'Fu', 'Fv'};
-#+end_src
-
-#+begin_src matlab
-%% Find result with wanted parallel stiffness
-[~, i_kp_vc] = min(abs(kps_vc - 1e3));
-[~, i_kp_md] = min(abs(kps_md - 1e4));
-[~, i_kp_pz] = min(abs(kps_pz - 1e6));
 
 %% Identify plants with choosen Parallel stiffnesses
 model_config.Tuv_type   = "parallel_k";    % Default: 2DoF stage
@@ -4276,8 +4274,6 @@ xticks([1e-1, 1e0, 1e1, 1e2, 1e3]);
 xtickangle(0)
 ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1);
 ldg.ItemTokenSize = [20, 1];
-
-linkaxes([ax1,ax2,ax3], 'y')
 ylim([1e-8, 1e-2])
 #+end_src