Remove unnecessary calls to "figure"
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@ -28,7 +28,6 @@ load('rotating_generic_plants.mat', 'Gs', 'Wzs');
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%% Bode plot of the direct and coupling term for Integral Force Feedback - Effect of rotation
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figure;
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freqs = logspace(-2, 1, 1000);
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figure;
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@ -120,13 +119,12 @@ linkaxes([ax1,ax2],'y');
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%% Root Locus for the Decentralized Integral Force Feedback controller
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figure;
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Kiff = 1/s*eye(2);
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gains = logspace(-2, 4, 300);
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Wz_i = [1,3,4];
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figure;
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hold on;
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for i = 1:length(Wz_i)
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plot(real(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(i,:), ...
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@ -227,10 +227,9 @@ title('Zoom on controller pole')
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kps = [2, 20, 40]*(mn + ms)*Wz^2;
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%% Root Locus: Effect of the parallel stiffness on the attainable damping
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figure;
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gains = logspace(-2, 4, 500);
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figure;
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hold on;
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for kp_i = 1:length(kps)
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kp = kps(kp_i); % Parallel Stiffness [N/m]
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@ -22,7 +22,6 @@ load('rotating_generic_plants.mat', 'Gs', 'Wzs');
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%% Bode plot of the direct and coupling term for the "relative damping control" plant - Effect of rotation
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figure;
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freqs = logspace(-2, 1, 1000);
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figure;
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@ -97,13 +96,12 @@ linkaxes([ax1,ax2],'y');
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%% Root Locus for Relative Damping Control
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figure;
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Krdc = s*eye(2); % Relative damping controller
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gains = logspace(-2, 2, 300); % Tested gains
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Wz_i = [1,3,4];
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figure;
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hold on;
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for i = 1:length(Wz_i)
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plot(real(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), imag(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), 'x', 'color', colors(i,:), ...
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@ -147,7 +145,6 @@ Krdc.OutputName = {'Fu', 'Fv'};
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G_cl_rdc = feedback(Gs{i}, Krdc, 'name');
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%% Damped plant using Relative Damping Control
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figure;
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freqs = logspace(-3, 2, 1000);
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figure;
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@ -97,10 +97,9 @@ Krdc.OutputName = {'Fu', 'Fv'};
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%% Comparison of active damping techniques for rotating platform - Root Locus
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figure;
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gains = logspace(-2, 2, 500);
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figure;
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hold on;
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% IFF
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plot(real(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(1,:), ...
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@ -155,7 +154,6 @@ G_cl_iff_kp = feedback(G_kp, Kiff_kp, 'name');
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G_cl_rdc = feedback(G, Krdc, 'name');
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%% Comparison of the damped plants obtained with the three active damping techniques
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figure;
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freqs = logspace(-3, 2, 1000);
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figure;
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@ -1093,7 +1093,6 @@ G_pz_norot_rdc = feedback(G_pz_norot, Krdc_pz, 'name');
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G_pz_fast_rdc = feedback(G_pz_fast, Krdc_pz, 'name');
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%% Comparison of the damped plants (direct and coupling terms) for the three proposed active damping techniques (IFF with HPF, IFF with $k_p$ and RDC) applied on the three nano-hexapod stiffnesses
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figure;
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freqs_vc = logspace(-1, 2, 1000);
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freqs_md = logspace(0, 3, 1000);
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freqs_pz = logspace(0, 3, 1000);
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@ -332,7 +332,6 @@ xlim([freqs_pz(1), freqs_pz(end)]);
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%% Coupling ratio for the proposed active damping techniques evaluated for the three nano-hexapod stiffnesses
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figure;
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freqs_vc = logspace(-1, 2, 1000);
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freqs_md = logspace(0, 3, 1000);
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freqs_pz = logspace(0, 3, 1000);
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@ -748,7 +748,6 @@ As was expected from the derived equations of motion:
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#+begin_src matlab :results none
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%% Bode plot of the direct and coupling term for Integral Force Feedback - Effect of rotation
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figure;
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freqs = logspace(-2, 1, 1000);
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figure;
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@ -885,13 +884,12 @@ The control system is thus canceling the spring forces which makes the suspended
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#+begin_src matlab
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%% Root Locus for the Decentralized Integral Force Feedback controller
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figure;
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Kiff = 1/s*eye(2);
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gains = logspace(-2, 4, 300);
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Wz_i = [1,3,4];
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figure;
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hold on;
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for i = 1:length(Wz_i)
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plot(real(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(i,:), ...
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@ -1870,10 +1868,9 @@ kps = [2, 20, 40]*(mn + ms)*Wz^2;
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#+begin_src matlab :results none
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%% Root Locus: Effect of the parallel stiffness on the attainable damping
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figure;
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gains = logspace(-2, 4, 500);
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figure;
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hold on;
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for kp_i = 1:length(kps)
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kp = kps(kp_i); % Parallel Stiffness [N/m]
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@ -2337,7 +2334,6 @@ The transfer functions from $[F_u,\ F_v]$ to $[d_u,\ d_v]$ is identified and sho
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#+begin_src matlab :results none
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%% Bode plot of the direct and coupling term for the "relative damping control" plant - Effect of rotation
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figure;
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freqs = logspace(-2, 1, 1000);
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figure;
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@ -2415,13 +2411,12 @@ The closed-loop system is unconditionally stable and the poles can be damped as
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#+begin_src matlab :results none
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%% Root Locus for Relative Damping Control
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figure;
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Krdc = s*eye(2); % Relative damping controller
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gains = logspace(-2, 2, 300); % Tested gains
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Wz_i = [1,3,4];
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figure;
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hold on;
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for i = 1:length(Wz_i)
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plot(real(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), imag(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), 'x', 'color', colors(i,:), ...
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@ -2477,7 +2472,6 @@ G_cl_rdc = feedback(Gs{i}, Krdc, 'name');
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#+begin_src matlab :results none
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%% Damped plant using Relative Damping Control
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figure;
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freqs = logspace(-3, 2, 1000);
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figure;
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@ -2660,10 +2654,9 @@ It is interesting to note that the maximum added damping is very similar for bot
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#+begin_src matlab :exports none :results none
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%% Comparison of active damping techniques for rotating platform - Root Locus
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figure;
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gains = logspace(-2, 2, 500);
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figure;
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hold on;
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% IFF
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plot(real(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(1,:), ...
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@ -2730,7 +2723,6 @@ G_cl_rdc = feedback(G, Krdc, 'name');
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#+begin_src matlab :exports none :results none
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%% Comparison of the damped plants obtained with the three active damping techniques
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figure;
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freqs = logspace(-3, 2, 1000);
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figure;
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@ -4087,7 +4079,6 @@ G_pz_fast_rdc = feedback(G_pz_fast, Krdc_pz, 'name');
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#+begin_src matlab :exports none :results none
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%% Comparison of the damped plants (direct and coupling terms) for the three proposed active damping techniques (IFF with HPF, IFF with $k_p$ and RDC) applied on the three nano-hexapod stiffnesses
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figure;
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freqs_vc = logspace(-1, 2, 1000);
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freqs_md = logspace(0, 3, 1000);
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freqs_pz = logspace(0, 3, 1000);
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@ -4587,7 +4578,6 @@ To confirm that the coupling is smaller when the stiffness of the nano-hexapod i
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#+begin_src matlab :exports none :results none
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%% Coupling ratio for the proposed active damping techniques evaluated for the three nano-hexapod stiffnesses
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figure;
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freqs_vc = logspace(-1, 2, 1000);
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freqs_md = logspace(0, 3, 1000);
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freqs_pz = logspace(0, 3, 1000);
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