Add missing controller definition

figs/inkscape/convert_svg.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+# Directory containing SVG files
+INPUT_DIR="."
+
+# Loop through all SVG files in the directory
+for svg_file in "$INPUT_DIR"/*.svg; do
+    # Check if there are SVG files in the directory
+    if [ -f "$svg_file" ]; then
+        # Output PDF file name
+        pdf_file="../${svg_file%.svg}.pdf"
+        png_file="../${svg_file%.svg}"
+        
+        # Convert SVG to PDF using Inkscape
+        inkscape "$svg_file" --export-filename="$pdf_file" && \
+            pdftocairo -png -singlefile -cropbox "$pdf_file" "$png_file"
+    fi
+done

matlab/rotating_7_nano_hexapod.m

@@ -221,6 +221,19 @@ i_iff_hpf_md = i_iff_hpf_md(end)+1;
 i_iff_hpf_pz = find(opt_iff_hpf_xi_pz > 0.95*max(opt_iff_hpf_xi_pz));
 i_iff_hpf_pz = i_iff_hpf_pz(end)+1;
 
+%% Define the obtained controllers
+Kiff_hpf_vc = Kiff*opt_iff_hpf_gain_vc(i_iff_hpf_vc);
+Kiff_hpf_vc.InputName  = {'fu', 'fv'};
+Kiff_hpf_vc.OutputName = {'Fu', 'Fv'};
+
+Kiff_hpf_md = Kiff*opt_iff_hpf_gain_md(i_iff_hpf_md);
+Kiff_hpf_md.InputName  = {'fu', 'fv'};
+Kiff_hpf_md.OutputName = {'Fu', 'Fv'};
+
+Kiff_hpf_pz = Kiff*opt_iff_hpf_gain_pz(i_iff_hpf_pz);
+Kiff_hpf_pz.InputName  = {'fu', 'fv'};
+Kiff_hpf_pz.OutputName = {'Fu', 'Fv'};
+
 %% Optimal modified IFF parameters that yields maximum simultaneous damping
 figure;
 yyaxis left
@@ -303,9 +316,9 @@ mn = 15; % Nano-Hexapod mass [kg]
 ms = 1; % Sample Mass [kg]
 
 %% IFF Controller
-Kiff_vc = 1/(s + 0.1*sqrt(1e4/(mn+ms)))*eye(2); % IFF
-Kiff_md = 1/(s + 0.1*sqrt(1e6/(mn+ms)))*eye(2); % IFF
-Kiff_pz = 1/(s + 0.1*sqrt(1e8/(mn+ms)))*eye(2); % IFF
+Kiff_vc = 1/(s + 0.1*sqrt(1e4/(mn+ms)))*eye(2); % IFF - VC
+Kiff_md = 1/(s + 0.1*sqrt(1e6/(mn+ms)))*eye(2); % IFF - MD
+Kiff_pz = 1/(s + 0.1*sqrt(1e8/(mn+ms)))*eye(2); % IFF - PZ
 
 %% General Configuration
 model_config = struct();
@@ -392,6 +405,19 @@ for kp_i = 1:length(kps_pz)
     opt_iff_kp_gain_pz(kp_i) = g_opt;
 end
 
+%% Define the obtained controllers
+Kiff_kp_vc = Kiff_vc*opt_iff_kp_gain_vc(i_kp_vc);
+Kiff_kp_vc.InputName  = {'fu', 'fv'};
+Kiff_kp_vc.OutputName = {'Fu', 'Fv'};
+
+Kiff_kp_md = Kiff_md*opt_iff_kp_gain_md(i_kp_md);
+Kiff_kp_md.InputName  = {'fu', 'fv'};
+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'};
+
 %% Find result with wanted parallel stiffness
 [~, i_kp_vc] = min(abs(kps_vc - 1e3));
 [~, i_kp_md] = min(abs(kps_md - 1e4));

matlab/rotating_8_nass.m

@@ -209,7 +209,7 @@ hold off;
 yticks(-360:90:360);
 ylim([ -200, 20]);
 
-linkaxes([ax,ax2],'x');
+linkaxes([ax1,ax2],'x');
 xlim([freqs_vc(1), freqs_vc(end)]);
 xticks([1e-1, 1e0, 1e1]);
 

nass-rotating-3dof-model.org

@@ -2912,6 +2912,21 @@ i_iff_hpf_pz = find(opt_iff_hpf_xi_pz > 0.95*max(opt_iff_hpf_xi_pz));
 i_iff_hpf_pz = i_iff_hpf_pz(end)+1;
 #+end_src
 
+#+begin_src matlab
+%% Define the obtained controllers
+Kiff_hpf_vc = Kiff*opt_iff_hpf_gain_vc(i_iff_hpf_vc);
+Kiff_hpf_vc.InputName  = {'fu', 'fv'};
+Kiff_hpf_vc.OutputName = {'Fu', 'Fv'};
+
+Kiff_hpf_md = Kiff*opt_iff_hpf_gain_md(i_iff_hpf_md);
+Kiff_hpf_md.InputName  = {'fu', 'fv'};
+Kiff_hpf_md.OutputName = {'Fu', 'Fv'};
+
+Kiff_hpf_pz = Kiff*opt_iff_hpf_gain_pz(i_iff_hpf_pz);
+Kiff_hpf_pz.InputName  = {'fu', 'fv'};
+Kiff_hpf_pz.OutputName = {'Fu', 'Fv'};
+#+end_src
+
 #+begin_src matlab :results none
 %% Optimal modified IFF parameters that yields maximum simultaneous damping
 figure;
@@ -3066,9 +3081,9 @@ mn = 15; % Nano-Hexapod mass [kg]
 ms = 1; % Sample Mass [kg]
 
 %% IFF Controller
-Kiff_vc = 1/(s + 0.1*sqrt(1e4/(mn+ms)))*eye(2); % IFF
-Kiff_md = 1/(s + 0.1*sqrt(1e6/(mn+ms)))*eye(2); % IFF
-Kiff_pz = 1/(s + 0.1*sqrt(1e8/(mn+ms)))*eye(2); % IFF
+Kiff_vc = 1/(s + 0.1*sqrt(1e4/(mn+ms)))*eye(2); % IFF - VC
+Kiff_md = 1/(s + 0.1*sqrt(1e6/(mn+ms)))*eye(2); % IFF - MD
+Kiff_pz = 1/(s + 0.1*sqrt(1e8/(mn+ms)))*eye(2); % IFF - PZ
 
 %% General Configuration
 model_config = struct();
@@ -3156,6 +3171,21 @@ for kp_i = 1:length(kps_pz)
 end
 #+end_src
 
+#+begin_src matlab
+%% Define the obtained controllers
+Kiff_kp_vc = Kiff_vc*opt_iff_kp_gain_vc(i_kp_vc);
+Kiff_kp_vc.InputName  = {'fu', 'fv'};
+Kiff_kp_vc.OutputName = {'Fu', 'Fv'};
+
+Kiff_kp_md = Kiff_md*opt_iff_kp_gain_md(i_kp_md);
+Kiff_kp_md.InputName  = {'fu', 'fv'};
+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));
@@ -3839,7 +3869,7 @@ hold off;
 yticks(-360:90:360);
 ylim([ -200, 20]);
 
-linkaxes([ax,ax2],'x');
+linkaxes([ax1,ax2],'x');
 xlim([freqs_vc(1), freqs_vc(end)]);
 xticks([1e-1, 1e0, 1e1]);
 #+end_src