From b4c654a0e26cbf33eca63c323815caa853cdf4b4 Mon Sep 17 00:00:00 2001
From: Thomas Dehaeze <dehaeze.thomas@gmail.com>
Date: Tue, 15 Apr 2025 09:29:40 +0200
Subject: [PATCH] Correct Matlab scripts

---
 matlab/mat/uniaxial_disturbance_psd.mat  | Bin 18684 -> 16997 bytes
 matlab/uniaxial_3_disturbances.m         |   9 +--
 matlab/uniaxial_4_dynamic_noise_budget.m |   6 +-
 matlab/uniaxial_5_active_damping.m       |  24 ++++---
 matlab/uniaxial_6_hac_lac.m              |  20 ++++--
 matlab/uniaxial_8_payload_dynamics.m     |  24 +++----
 nass-uniaxial-model.org                  |  87 +++++++++++++----------
 7 files changed, 98 insertions(+), 72 deletions(-)

diff --git a/matlab/mat/uniaxial_disturbance_psd.mat b/matlab/mat/uniaxial_disturbance_psd.mat
index ea57cd3c01db738fbb8ba4ed5e72bcf495034ecc..8ed5d3c9820af42645c27d1cc249c97f768a2af7 100644
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diff --git a/matlab/uniaxial_3_disturbances.m b/matlab/uniaxial_3_disturbances.m
index 8b29b99..69285a8 100644
--- a/matlab/uniaxial_3_disturbances.m
+++ b/matlab/uniaxial_3_disturbances.m
@@ -65,11 +65,12 @@ load('meas_spindle_on.mat', 't', 'vg', 'vh');
 spindle_off = load('meas_spindle_off.mat', 't', 'vg', 'vh'); % No Rotation
 
 % Compute Power Spectral Density of the relative velocity between granite and hexapod during spindle rotation
-Fs = 1/(t(2)-t(1)); % Sampling Frequency [Hz]
-win = hanning(ceil(2*Fs)); % Hanning window
+Ts = t(2)-t(1); % Sampling Time [s]
+Nfft = floor(2/Ts);
+win = hanning(Nfft);
 
-[psd_vft, f] = pwelch(vh-vg, win, [], [], Fs); % [(m/s)^2/Hz]
-[psd_off, ~] = pwelch(spindle_off.vh-spindle_off.vg, win, [], [], Fs); % [(m/s)^2/Hz]
+[psd_vft, f] = pwelch(vh-vg, win, Noverlap, Nfft, 1/Ts); % [(m/s)^2/Hz]
+[psd_off, ~] = pwelch(spindle_off.vh-spindle_off.vg, win, Noverlap, Nfft, 1/Ts); % [(m/s)^2/Hz]
 
 % Disable the Nano-Hexpod for now
 model_config = struct();
diff --git a/matlab/uniaxial_4_dynamic_noise_budget.m b/matlab/uniaxial_4_dynamic_noise_budget.m
index 1eb9287..3baf19f 100644
--- a/matlab/uniaxial_4_dynamic_noise_budget.m
+++ b/matlab/uniaxial_4_dynamic_noise_budget.m
@@ -56,7 +56,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
 ylabel('Amplitude $d/x_{f}$ [m/m]'); xlabel('Frequency [Hz]');
 xticks([1e0, 1e1, 1e2]);
 leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 xlim([1, 500]);
 
 %% Cumulative Amplitude Spectrum of the relative motion d, due to both the floor motion and the stage vibrations
@@ -72,7 +72,7 @@ hold off;
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
 ylabel('CAS [m]'); xlabel('Frequency [Hz]');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 
 xlim([1, 500]);
 ylim([1e-12, 3e-6])
@@ -104,7 +104,7 @@ hold off;
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
 ylabel('CAS [m]'); xlabel('Frequency [Hz]');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 
 xlim([1, 500]);
 ylim([1e-12, 3e-6])
diff --git a/matlab/uniaxial_5_active_damping.m b/matlab/uniaxial_5_active_damping.m
index 3f58d84..df6a950 100644
--- a/matlab/uniaxial_5_active_damping.m
+++ b/matlab/uniaxial_5_active_damping.m
@@ -221,19 +221,25 @@ G_dvf_pz_heavy = feedback(G_pz_heavy, K_dvf_pz, 'name', +1);
 
 %% Verify Stability
 % IFF
-isstable(G_iff_vc_light) && isstable(G_iff_vc_mid) && isstable(G_iff_vc_heavy) && ...
-isstable(G_iff_md_light) && isstable(G_iff_md_mid) && isstable(G_iff_md_heavy) && ...
-isstable(G_iff_pz_light) && isstable(G_iff_pz_mid) && isstable(G_iff_pz_heavy)
+if not(isstable(G_iff_vc_light) && isstable(G_iff_vc_mid) && isstable(G_iff_vc_heavy) && ...
+       isstable(G_iff_md_light) && isstable(G_iff_md_mid) && isstable(G_iff_md_heavy) && ...
+       isstable(G_iff_pz_light) && isstable(G_iff_pz_mid) && isstable(G_iff_pz_heavy))
+    warning("One of the damped plant with decentralized IFF is not stable.");
+end
 
 % RDC
-isstable(G_rdc_vc_light) && isstable(G_rdc_vc_mid) && isstable(G_rdc_vc_heavy) && ...
-isstable(G_rdc_md_light) && isstable(G_rdc_md_mid) && isstable(G_rdc_md_heavy) && ...
-isstable(G_rdc_pz_light) && isstable(G_rdc_pz_mid) && isstable(G_rdc_pz_heavy)
+if not(isstable(G_rdc_vc_light) && isstable(G_rdc_vc_mid) && isstable(G_rdc_vc_heavy) && ...
+       isstable(G_rdc_md_light) && isstable(G_rdc_md_mid) && isstable(G_rdc_md_heavy) && ...
+       isstable(G_rdc_pz_light) && isstable(G_rdc_pz_mid) && isstable(G_rdc_pz_heavy))
+    warning("One of the damped plant with decentralized RDC is not stable.");
+end
 
 % DVF
-isstable(G_dvf_vc_light) && isstable(G_dvf_vc_mid) && isstable(G_dvf_vc_heavy) && ...
-isstable(G_dvf_md_light) && isstable(G_dvf_md_mid) && isstable(G_dvf_md_heavy) && ...
-isstable(G_dvf_pz_light) && isstable(G_dvf_pz_mid) && isstable(G_dvf_pz_heavy)
+if not(isstable(G_dvf_vc_light) && isstable(G_dvf_vc_mid) && isstable(G_dvf_vc_heavy) && ...
+       isstable(G_dvf_md_light) && isstable(G_dvf_md_mid) && isstable(G_dvf_md_heavy) && ...
+       isstable(G_dvf_pz_light) && isstable(G_dvf_pz_mid) && isstable(G_dvf_pz_heavy))
+    warning("One of the damped plant with decentralized DVF is not stable.");
+end
 
 %% Save Damped Plants
 save('./mat/uniaxial_damped_plants.mat', 'G_iff_vc_light', 'G_iff_md_light', 'G_iff_pz_light', ...
diff --git a/matlab/uniaxial_6_hac_lac.m b/matlab/uniaxial_6_hac_lac.m
index 5b19292..be4de37 100644
--- a/matlab/uniaxial_6_hac_lac.m
+++ b/matlab/uniaxial_6_hac_lac.m
@@ -258,7 +258,7 @@ hold off;
 set(gca, 'XScale', 'lin'); set(gca, 'YScale', 'lin');
 xlabel('Real'); ylabel('Imag');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 xlim([-3.8, 0.2]); ylim([-2, 2]);
 axis square;
 
@@ -279,7 +279,7 @@ hold off;
 set(gca, 'XScale', 'lin'); set(gca, 'YScale', 'lin');
 xlabel('Real'); ylabel('Imag');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 xlim([-3.8, 0.2]); ylim([-2, 2]);
 axis square;
 
@@ -300,7 +300,7 @@ hold off;
 set(gca, 'XScale', 'lin'); set(gca, 'YScale', 'lin');
 xlabel('Real'); ylabel('Imag');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 xlim([-3.8, 0.2]); ylim([-2, 2]);
 axis square;
 
@@ -319,7 +319,7 @@ ylabel('Loop Gain'); set(gca, 'XTickLabel',[]);
 ylim([1e-3, 1e3]);
 yticks([1e-2, 1, 1e2])
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 
 ax2 = nexttile;
 hold on;
@@ -413,11 +413,17 @@ G_hac_iff_pz_mid   = feedback(G_iff_pz_mid  , K_hac_pz, 'name', -1);
 G_hac_iff_pz_heavy = feedback(G_iff_pz_heavy, K_hac_pz, 'name', -1);
 
 %% Verify Stability
-isstable(G_hac_iff_vc_light) && isstable(G_hac_iff_vc_mid) && isstable(G_hac_iff_vc_heavy)
+if not(isstable(G_hac_iff_vc_light) && isstable(G_hac_iff_vc_mid) && isstable(G_hac_iff_vc_heavy))
+    warning("One of the damped plant with VC and decentralized IFF is not stable.");
+end
 
-isstable(G_hac_iff_md_light) && isstable(G_hac_iff_md_mid) && isstable(G_hac_iff_md_heavy)
+if not(isstable(G_hac_iff_md_light) && isstable(G_hac_iff_md_mid) && isstable(G_hac_iff_md_heavy))
+    warning("One of the damped plant with MD and decentralized IFF is not stable.");
+end
 
-isstable(G_hac_iff_pz_light) && isstable(G_hac_iff_pz_mid) && isstable(G_hac_iff_pz_heavy)
+if not(isstable(G_hac_iff_pz_light) && isstable(G_hac_iff_pz_mid) && isstable(G_hac_iff_pz_heavy))
+    warning("One of the damped plant with PZ and decentralized IFF is not stable.");
+end
 
 %% Change of sensitivity to disturbances with LAC and with HAC-LAC
 figure;
diff --git a/matlab/uniaxial_8_payload_dynamics.m b/matlab/uniaxial_8_payload_dynamics.m
index 9bc3708..8fd8bb5 100644
--- a/matlab/uniaxial_8_payload_dynamics.m
+++ b/matlab/uniaxial_8_payload_dynamics.m
@@ -324,18 +324,18 @@ G_iff_vc_light_rigid = feedback(G_vc_light_rigid, K_iff_vc, 'name', +1);
 G_iff_vc_light_soft  = feedback(G_vc_light_soft , K_iff_vc, 'name', +1);
 G_iff_vc_light_stiff = feedback(G_vc_light_stiff, K_iff_vc, 'name', +1);
 
-isstable(G_iff_vc_light_rigid)
-isstable(G_iff_vc_light_soft)
-isstable(G_iff_vc_light_stiff)
+if not(isstable(G_iff_vc_light_rigid) && isstable(G_iff_vc_light_soft) &&isstable(G_iff_vc_light_stiff))
+    warning("One of the damped plant with VC and decentralized IFF is not stable.");
+end
 
 % Stiff Nano-Hexapod
 G_iff_pz_light_rigid = feedback(G_pz_light_rigid, K_iff_pz, 'name', +1);
 G_iff_pz_light_soft  = feedback(G_pz_light_soft , K_iff_pz, 'name', +1);
 G_iff_pz_light_stiff = feedback(G_pz_light_stiff, K_iff_pz, 'name', +1);
 
-isstable(G_iff_pz_light_rigid)
-isstable(G_iff_pz_light_soft)
-isstable(G_iff_pz_light_stiff)
+if not(isstable(G_iff_pz_light_rigid) && isstable(G_iff_pz_light_soft) && isstable(G_iff_pz_light_stiff))
+    warning("One of the damped plant with PZ and decentralized IFF is not stable.");
+end
 
 %% Compute closed-loop plants and verify stability
 % Soft Nano-Hexapod
@@ -343,18 +343,18 @@ G_hac_iff_vc_light_rigid = feedback(G_iff_vc_light_rigid, K_hac_vc, 'name', -1);
 G_hac_iff_vc_light_soft  = feedback(G_iff_vc_light_soft , K_hac_vc, 'name', -1);
 G_hac_iff_vc_light_stiff = feedback(G_iff_vc_light_stiff, K_hac_vc, 'name', -1);
 
-isstable(G_hac_iff_vc_light_rigid)
-isstable(G_hac_iff_vc_light_soft)
-isstable(G_hac_iff_vc_light_stiff)
+if not(isstable(G_hac_iff_vc_light_rigid) && isstable(G_hac_iff_vc_light_soft) && isstable(G_hac_iff_vc_light_stiff))
+    warning("One of the damped plant with VC and decentralized IFF is not stable.");
+end
 
 % Stiff Nano-Hexapod
 G_hac_iff_pz_light_rigid = feedback(G_iff_pz_light_rigid, K_hac_pz, 'name', -1);
 G_hac_iff_pz_light_soft  = feedback(G_iff_pz_light_soft , K_hac_pz, 'name', -1);
 G_hac_iff_pz_light_stiff = feedback(G_iff_pz_light_stiff, K_hac_pz, 'name', -1);
 
-isstable(G_hac_iff_pz_light_rigid)
-isstable(G_hac_iff_pz_light_soft)
-isstable(G_hac_iff_pz_light_stiff)
+if not(isstable(G_hac_iff_pz_light_rigid) && isstable(G_hac_iff_pz_light_soft) && isstable(G_hac_iff_pz_light_stiff))
+    warning("One of the damped plant with PZ and decentralized IFF is not stable.");
+end
 
 %% Cumulative Amplitude Spectrum of d - Effect of Sample's flexibility
 figure;
diff --git a/nass-uniaxial-model.org b/nass-uniaxial-model.org
index ecfbd0c..ecc6649 100644
--- a/nass-uniaxial-model.org
+++ b/nass-uniaxial-model.org
@@ -1388,7 +1388,7 @@ This model of the geophone was taken from [[cite:&collette12_review]].
 The gain of the voltage amplifier is $V^{\prime}_{x_f}/V_{x_f} = g_0 = 1000$.
 
 \begin{equation}\label{eq:uniaxial_geophone_tf}
-G_{geo}(s) = \frac{V_{x_f}}{x_f}(s) = T_{g} \cdot s \cdot \frac{s^2}{s^2 + 2 \xi \omega_0 s + \omega_0^2} \quad \left[ V/m \right]
+  G_{geo}(s) = \frac{V_{x_f}}{x_f}(s) = T_{g} \cdot s \cdot \frac{s^2}{s^2 + 2 \xi \omega_0 s + \omega_0^2} \quad \left[ V/m \right]
 \end{equation}
 
 #+begin_src latex :file uniaxial_geophone_meas_chain.pdf
@@ -1448,7 +1448,7 @@ The amplitude spectral density of the floor motion $\Gamma_{x_f}$ can be compute
 The estimated amplitude spectral density $\Gamma_{x_f}$ of the floor motion $x_f$ is shown in Figure ref:fig:uniaxial_asd_floor_motion_id31.
 
 \begin{equation}\label{eq:uniaxial_asd_floor_motion}
-\Gamma_{x_f}(\omega) = \frac{\Gamma_{\hat{V}_{x_f}}(\omega)}{|G_{geo}(j\omega)| \cdot g_0} \quad \left[ m/\sqrt{\text{Hz}} \right]
+  \Gamma_{x_f}(\omega) = \frac{\Gamma_{\hat{V}_{x_f}}(\omega)}{|G_{geo}(j\omega)| \cdot g_0} \quad \left[ m/\sqrt{\text{Hz}} \right]
 \end{equation}
 
 #+begin_src matlab :exports none :results none
@@ -1500,11 +1500,12 @@ load('meas_spindle_on.mat', 't', 'vg', 'vh');
 spindle_off = load('meas_spindle_off.mat', 't', 'vg', 'vh'); % No Rotation
 
 % Compute Power Spectral Density of the relative velocity between granite and hexapod during spindle rotation
-Fs = 1/(t(2)-t(1)); % Sampling Frequency [Hz]
-win = hanning(ceil(2*Fs)); % Hanning window
+Ts = t(2)-t(1); % Sampling Time [s]
+Nfft = floor(2/Ts);
+win = hanning(Nfft);
 
-[psd_vft, f] = pwelch(vh-vg, win, [], [], Fs); % [(m/s)^2/Hz]
-[psd_off, ~] = pwelch(spindle_off.vh-spindle_off.vg, win, [], [], Fs); % [(m/s)^2/Hz]
+[psd_vft, f] = pwelch(vh-vg, win, Noverlap, Nfft, 1/Ts); % [(m/s)^2/Hz]
+[psd_off, ~] = pwelch(spindle_off.vh-spindle_off.vg, win, Noverlap, Nfft, 1/Ts); % [(m/s)^2/Hz]
 
 % Disable the Nano-Hexpod for now
 model_config = struct();
@@ -1696,7 +1697,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
 ylabel('Amplitude $d/x_{f}$ [m/m]'); xlabel('Frequency [Hz]');
 xticks([1e0, 1e1, 1e2]);
 leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 xlim([1, 500]);
 #+end_src
 
@@ -1751,7 +1752,7 @@ hold off;
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
 ylabel('CAS [m]'); xlabel('Frequency [Hz]');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 
 xlim([1, 500]);
 ylim([1e-12, 3e-6])
@@ -1789,7 +1790,7 @@ hold off;
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
 ylabel('CAS [m]'); xlabel('Frequency [Hz]');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 
 xlim([1, 500]);
 ylim([1e-12, 3e-6])
@@ -2960,19 +2961,25 @@ G_dvf_pz_heavy = feedback(G_pz_heavy, K_dvf_pz, 'name', +1);
 #+begin_src matlab
 %% Verify Stability
 % IFF
-isstable(G_iff_vc_light) && isstable(G_iff_vc_mid) && isstable(G_iff_vc_heavy) && ...
-isstable(G_iff_md_light) && isstable(G_iff_md_mid) && isstable(G_iff_md_heavy) && ...
-isstable(G_iff_pz_light) && isstable(G_iff_pz_mid) && isstable(G_iff_pz_heavy)
+if not(isstable(G_iff_vc_light) && isstable(G_iff_vc_mid) && isstable(G_iff_vc_heavy) && ...
+       isstable(G_iff_md_light) && isstable(G_iff_md_mid) && isstable(G_iff_md_heavy) && ...
+       isstable(G_iff_pz_light) && isstable(G_iff_pz_mid) && isstable(G_iff_pz_heavy))
+    warning("One of the damped plant with decentralized IFF is not stable.");
+end
 
 % RDC
-isstable(G_rdc_vc_light) && isstable(G_rdc_vc_mid) && isstable(G_rdc_vc_heavy) && ...
-isstable(G_rdc_md_light) && isstable(G_rdc_md_mid) && isstable(G_rdc_md_heavy) && ...
-isstable(G_rdc_pz_light) && isstable(G_rdc_pz_mid) && isstable(G_rdc_pz_heavy)
+if not(isstable(G_rdc_vc_light) && isstable(G_rdc_vc_mid) && isstable(G_rdc_vc_heavy) && ...
+       isstable(G_rdc_md_light) && isstable(G_rdc_md_mid) && isstable(G_rdc_md_heavy) && ...
+       isstable(G_rdc_pz_light) && isstable(G_rdc_pz_mid) && isstable(G_rdc_pz_heavy))
+    warning("One of the damped plant with decentralized RDC is not stable.");
+end
 
 % DVF
-isstable(G_dvf_vc_light) && isstable(G_dvf_vc_mid) && isstable(G_dvf_vc_heavy) && ...
-isstable(G_dvf_md_light) && isstable(G_dvf_md_mid) && isstable(G_dvf_md_heavy) && ...
-isstable(G_dvf_pz_light) && isstable(G_dvf_pz_mid) && isstable(G_dvf_pz_heavy)
+if not(isstable(G_dvf_vc_light) && isstable(G_dvf_vc_mid) && isstable(G_dvf_vc_heavy) && ...
+       isstable(G_dvf_md_light) && isstable(G_dvf_md_mid) && isstable(G_dvf_md_heavy) && ...
+       isstable(G_dvf_pz_light) && isstable(G_dvf_pz_mid) && isstable(G_dvf_pz_heavy))
+    warning("One of the damped plant with decentralized DVF is not stable.");
+end
 #+end_src
 
 #+begin_src matlab :exports none :tangle no
@@ -4253,7 +4260,7 @@ hold off;
 set(gca, 'XScale', 'lin'); set(gca, 'YScale', 'lin');
 xlabel('Real'); ylabel('Imag');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 xlim([-3.8, 0.2]); ylim([-2, 2]);
 axis square;
 #+end_src
@@ -4280,7 +4287,7 @@ hold off;
 set(gca, 'XScale', 'lin'); set(gca, 'YScale', 'lin');
 xlabel('Real'); ylabel('Imag');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 xlim([-3.8, 0.2]); ylim([-2, 2]);
 axis square;
 #+end_src
@@ -4307,7 +4314,7 @@ hold off;
 set(gca, 'XScale', 'lin'); set(gca, 'YScale', 'lin');
 xlabel('Real'); ylabel('Imag');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 xlim([-3.8, 0.2]); ylim([-2, 2]);
 axis square;
 #+end_src
@@ -4356,7 +4363,7 @@ ylabel('Loop Gain'); set(gca, 'XTickLabel',[]);
 ylim([1e-3, 1e3]);
 yticks([1e-2, 1, 1e2])
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 
 ax2 = nexttile;
 hold on;
@@ -4501,11 +4508,17 @@ G_hac_iff_pz_heavy = feedback(G_iff_pz_heavy, K_hac_pz, 'name', -1);
 
 #+begin_src matlab :exports none
 %% Verify Stability
-isstable(G_hac_iff_vc_light) && isstable(G_hac_iff_vc_mid) && isstable(G_hac_iff_vc_heavy)
+if not(isstable(G_hac_iff_vc_light) && isstable(G_hac_iff_vc_mid) && isstable(G_hac_iff_vc_heavy))
+    warning("One of the damped plant with VC and decentralized IFF is not stable.");
+end
 
-isstable(G_hac_iff_md_light) && isstable(G_hac_iff_md_mid) && isstable(G_hac_iff_md_heavy)
+if not(isstable(G_hac_iff_md_light) && isstable(G_hac_iff_md_mid) && isstable(G_hac_iff_md_heavy))
+    warning("One of the damped plant with MD and decentralized IFF is not stable.");
+end
 
-isstable(G_hac_iff_pz_light) && isstable(G_hac_iff_pz_mid) && isstable(G_hac_iff_pz_heavy)
+if not(isstable(G_hac_iff_pz_light) && isstable(G_hac_iff_pz_mid) && isstable(G_hac_iff_pz_heavy))
+    warning("One of the damped plant with PZ and decentralized IFF is not stable.");
+end
 #+end_src
 
 #+begin_src matlab :exports none :results none
@@ -6008,18 +6021,18 @@ G_iff_vc_light_rigid = feedback(G_vc_light_rigid, K_iff_vc, 'name', +1);
 G_iff_vc_light_soft  = feedback(G_vc_light_soft , K_iff_vc, 'name', +1);
 G_iff_vc_light_stiff = feedback(G_vc_light_stiff, K_iff_vc, 'name', +1);
 
-isstable(G_iff_vc_light_rigid)
-isstable(G_iff_vc_light_soft)
-isstable(G_iff_vc_light_stiff)
+if not(isstable(G_iff_vc_light_rigid) && isstable(G_iff_vc_light_soft) &&isstable(G_iff_vc_light_stiff))
+    warning("One of the damped plant with VC and decentralized IFF is not stable.");
+end
 
 % Stiff Nano-Hexapod
 G_iff_pz_light_rigid = feedback(G_pz_light_rigid, K_iff_pz, 'name', +1);
 G_iff_pz_light_soft  = feedback(G_pz_light_soft , K_iff_pz, 'name', +1);
 G_iff_pz_light_stiff = feedback(G_pz_light_stiff, K_iff_pz, 'name', +1);
 
-isstable(G_iff_pz_light_rigid)
-isstable(G_iff_pz_light_soft)
-isstable(G_iff_pz_light_stiff)
+if not(isstable(G_iff_pz_light_rigid) && isstable(G_iff_pz_light_soft) && isstable(G_iff_pz_light_stiff))
+    warning("One of the damped plant with PZ and decentralized IFF is not stable.");
+end
 #+end_src
 
 #+begin_src matlab
@@ -6029,18 +6042,18 @@ G_hac_iff_vc_light_rigid = feedback(G_iff_vc_light_rigid, K_hac_vc, 'name', -1);
 G_hac_iff_vc_light_soft  = feedback(G_iff_vc_light_soft , K_hac_vc, 'name', -1);
 G_hac_iff_vc_light_stiff = feedback(G_iff_vc_light_stiff, K_hac_vc, 'name', -1);
 
-isstable(G_hac_iff_vc_light_rigid)
-isstable(G_hac_iff_vc_light_soft)
-isstable(G_hac_iff_vc_light_stiff)
+if not(isstable(G_hac_iff_vc_light_rigid) && isstable(G_hac_iff_vc_light_soft) && isstable(G_hac_iff_vc_light_stiff))
+    warning("One of the damped plant with VC and decentralized IFF is not stable.");
+end
 
 % Stiff Nano-Hexapod
 G_hac_iff_pz_light_rigid = feedback(G_iff_pz_light_rigid, K_hac_pz, 'name', -1);
 G_hac_iff_pz_light_soft  = feedback(G_iff_pz_light_soft , K_hac_pz, 'name', -1);
 G_hac_iff_pz_light_stiff = feedback(G_iff_pz_light_stiff, K_hac_pz, 'name', -1);
 
-isstable(G_hac_iff_pz_light_rigid)
-isstable(G_hac_iff_pz_light_soft)
-isstable(G_hac_iff_pz_light_stiff)
+if not(isstable(G_hac_iff_pz_light_rigid) && isstable(G_hac_iff_pz_light_soft) && isstable(G_hac_iff_pz_light_stiff))
+    warning("One of the damped plant with PZ and decentralized IFF is not stable.");
+end
 #+end_src
 
 #+begin_src matlab :exports none :results none