Rework all figures

figs/nass_iff_loop_gain.pdf

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figs/nass_iff_plant_effect_payload.pdf

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figs/nass_iff_plant_kp.pdf

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figs/nass_soft_nano_hexapod_effect_Wz.pdf

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simscape-nass.org

@@ -248,6 +248,22 @@ One big advantage of doing the control in the cartesian plane, is that we don't
 Maybe this should be done *here*.
 Here it can be reminded when doing the control in the cartesian frame.
 
+** TODO [#B] Determine which .mat files are used and which are not
+
+- [ ] matlab/mat/conf_log.mat
+- [ ] matlab/mat/conf_simscape.mat
+- [ ] matlab/mat/conf_simulink.mat
+- [ ] matlab/mat/nano_hexapod.mat
+- [ ] matlab/mat/nass_disturbances.mat
+- [ ] matlab/mat/nass_model_conf_log.mat
+- [ ] matlab/mat/nass_model_conf_simscape.mat
+- [ ] matlab/mat/nass_model_controller.mat
+- [ ] matlab/mat/nass_model_disturbances.mat
+- [ ] matlab/mat/nass_model_references.mat
+- [ ] matlab/mat/nass_model_stages.mat
+- [ ] matlab/mat/nass_references.mat
+- [ ] matlab/mat/nass_stages.mat
+
 ** TODO [#B] Check if things are compatible to results of uniaxial model
 
 ** DONE [#C] Check if it would be interesting to show soft/stiff nano-hexapod plants
@@ -1013,36 +1029,36 @@ ax1 = nexttile([2,1]);
 hold on;
 for i = 1:5
     for j = i+1:6
-        plot(freqs, abs(squeeze(freqresp(G_iff_m1(i,j), freqs, 'Hz'))), 'color', [colors(1,:), 0.1], ...
+        plot(freqs, abs(squeeze(freqresp(G_iff_m25(i,j), freqs, 'Hz'))), 'color', [colors(1,:), 0.1], ...
              'HandleVisibility', 'off');
-        plot(freqs, abs(squeeze(freqresp(G_iff_m1_Rz(i,j), freqs, 'Hz'))), 'color', [colors(2,:), 0.1], ...
+        plot(freqs, abs(squeeze(freqresp(G_iff_m25_Rz(i,j), freqs, 'Hz'))), 'color', [colors(2,:), 0.1], ...
              'HandleVisibility', 'off');
     end
 end
-plot(freqs, abs(squeeze(freqresp(G_iff_m1(1,1), freqs, 'Hz'))), 'color', colors(1,:), ...
+plot(freqs, abs(squeeze(freqresp(G_iff_m25(1,1), freqs, 'Hz'))), 'color', colors(1,:), ...
      'DisplayName', '$f_{ni}/f_i$ - $\Omega_z = 0$ deg/s')
-plot(freqs, abs(squeeze(freqresp(G_iff_m1_Rz(1,1), freqs, 'Hz'))), 'color', colors(2,:), ...
+plot(freqs, abs(squeeze(freqresp(G_iff_m25_Rz(1,1), freqs, 'Hz'))), 'color', colors(2,:), ...
      'DisplayName', '$f_{ni}/f_i$ - $\Omega_z = 360$ deg/s')
 for i = 2:6
-    plot(freqs, abs(squeeze(freqresp(G_iff_m1(i,i), freqs, 'Hz'))), 'color', colors(1,:), ...
+    plot(freqs, abs(squeeze(freqresp(G_iff_m25(i,i), freqs, 'Hz'))), 'color', colors(1,:), ...
          'HandleVisibility', 'off');
-    plot(freqs, abs(squeeze(freqresp(G_iff_m1_Rz(i,i), freqs, 'Hz'))), 'color', colors(2,:), ...
+    plot(freqs, abs(squeeze(freqresp(G_iff_m25_Rz(i,i), freqs, 'Hz'))), 'color', colors(2,:), ...
          'HandleVisibility', 'off');
 end
-% plot(freqs, abs(squeeze(freqresp(G_iff_m1_Rz(1,2), freqs, 'Hz'))), 'color', [0, 0, 0, 0.2], ...
+% plot(freqs, abs(squeeze(freqresp(G_iff_m25_Rz(1,2), freqs, 'Hz'))), 'color', [0, 0, 0, 0.2], ...
 %      'DisplayName', '$f_{ni}/f_j$')
 hold off;
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
 ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
-ylim([1e-6, 1e2]);
-leg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1);
+ylim([1e-4, 1e2]);
+leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1);
 leg.ItemTokenSize(1) = 15;
 
 ax2 = nexttile;
 hold on;
 for i = 1:6
-    plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff_m1(i,i), freqs, 'Hz'))), 'color', colors(1,:));
-    plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff_m1_Rz(i,i), freqs, 'Hz'))), 'color', colors(2,:));
+    plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff_m25(i,i), freqs, 'Hz'))), 'color', colors(1,:));
+    plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff_m25_Rz(i,i), freqs, 'Hz'))), 'color', colors(2,:));
 end
 hold off;
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
@@ -1158,8 +1174,8 @@ The overall gain is then increased to have large loop gain around resonances to
 #+begin_src matlab
 %% Verify that parallel stiffness permits to have a stable plant
 Kiff_pure_int = -200/s*eye(6);
-isstable(feedback(G_iff_m1_Rz,       Kiff_pure_int, 1))
-isstable(feedback(G_iff_m1_Rz_no_kp, Kiff_pure_int, 1))
+isstable(feedback(G_iff_m25_Rz,       Kiff_pure_int, 1))
+isstable(feedback(G_iff_m25_Rz_no_kp, Kiff_pure_int, 1))
 #+end_src
 
 #+begin_src matlab
@@ -1263,19 +1279,19 @@ tiledlayout(1, 1, 'TileSpacing', 'compact', 'Padding', 'None');
 nexttile();
 hold on;
 
-plot(real(pole(G_iff_m1_Rz)),  imag(pole(G_iff_m1_Rz)),  'x', 'color', colors(1,:), ...
+plot(real(pole(G_iff_m1)),  imag(pole(G_iff_m1)),  'x', 'color', colors(1,:), ...
     'DisplayName', '$g = 0$');
-plot(real(tzero(G_iff_m1_Rz)), imag(tzero(G_iff_m1_Rz)), 'o', 'color', colors(1,:), ...
+plot(real(tzero(G_iff_m1)), imag(tzero(G_iff_m1)), 'o', 'color', colors(1,:), ...
     'HandleVisibility', 'off');
 
 for g = gains
-    clpoles = pole(feedback(G_iff_m1_Rz, g*Kiff, +1));
+    clpoles = pole(feedback(G_iff_m1, g*Kiff, +1));
     plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:), ...
         'HandleVisibility', 'off');
 end
 
 % Optimal gain
-clpoles = pole(feedback(G_iff_m1_Rz, Kiff, +1));
+clpoles = pole(feedback(G_iff_m1, Kiff, +1));
 plot(real(clpoles), imag(clpoles), 'kx', ...
     'DisplayName', '$g_{opt}$');
 
@@ -1513,26 +1529,26 @@ tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
 
 ax1 = nexttile([2,1]);
 hold on;
-plot(f, abs(squeeze(freqresp(G_m1(1,1), f, 'Hz'))), 'color', colors(1,:), ...
+plot(freqs, abs(squeeze(freqresp(G_m1(1,1), freqs, 'Hz'))), 'color', colors(1,:), ...
      'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$, $\Omega = 0$')
-plot(f, abs(squeeze(freqresp(G_m1_Rz(1,1), f, 'Hz'))), 'color', colors(2,:), ...
+plot(freqs, abs(squeeze(freqresp(G_m1_Rz(1,1), freqs, 'Hz'))), 'color', colors(2,:), ...
      'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$, $\Omega = 360$ deg/s')
-plot(f, abs(squeeze(freqresp(G_m1(1,2), f, 'Hz'))), 'color', [colors(1,:), 0.2], ...
+plot(freqs, abs(squeeze(freqresp(G_m1(1,2), freqs, 'Hz'))), 'color', [colors(1,:), 0.2], ...
      'DisplayName', '$\epsilon_{\mathcal{L}i}/f_j$')
-plot(f, abs(squeeze(freqresp(G_m1_Rz(1,2), f, 'Hz'))), 'color', [colors(2,:), 0.2], ...
+plot(freqs, abs(squeeze(freqresp(G_m1_Rz(1,2), freqs, 'Hz'))), 'color', [colors(2,:), 0.2], ...
      'DisplayName', '$\epsilon_{\mathcal{L}i}/f_j$')
 for i = 1:5
     for j = i+1:6
-        plot(f, abs(squeeze(freqresp(G_m1(i,j), f, 'Hz'))), 'color', [colors(1,:), 0.2], ...
+        plot(freqs, abs(squeeze(freqresp(G_m1(i,j), freqs, 'Hz'))), 'color', [colors(1,:), 0.2], ...
              'HandleVisibility', 'off');
-        plot(f, abs(squeeze(freqresp(G_m1_Rz(i,j), f, 'Hz'))), 'color', [colors(2,:), 0.2], ...
+        plot(freqs, abs(squeeze(freqresp(G_m1_Rz(i,j), freqs, 'Hz'))), 'color', [colors(2,:), 0.2], ...
              'HandleVisibility', 'off');
     end
 end
 for i = 2:6
-    plot(f, abs(squeeze(freqresp(G_m1(i,i), f, 'Hz'))), 'color', colors(1,:), ...
+    plot(freqs, abs(squeeze(freqresp(G_m1(i,i), freqs, 'Hz'))), 'color', colors(1,:), ...
          'HandleVisibility', 'off');
-    plot(f, abs(squeeze(freqresp(G_m1_Rz(i,i), f, 'Hz'))), 'color', colors(2,:), ...
+    plot(freqs, abs(squeeze(freqresp(G_m1_Rz(i,i), freqs, 'Hz'))), 'color', colors(2,:), ...
          'HandleVisibility', 'off');
 end
 hold off;
@@ -1545,8 +1561,8 @@ leg.ItemTokenSize(1) = 15;
 ax2 = nexttile;
 hold on;
 for i = 1:6
-    plot(f, 180/pi*unwrap(angle(squeeze(freqresp(G_m1(i,i), f, 'Hz')))), 'color', colors(1,:));
-    plot(f, 180/pi*unwrap(angle(squeeze(freqresp(G_m1_Rz(i,i), f, 'Hz')))), 'color', colors(2,:));
+    plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_m1(i,i), freqs, 'Hz')))), 'color', colors(1,:));
+    plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_m1_Rz(i,i), freqs, 'Hz')))), 'color', colors(2,:));
 end
 hold off;
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
@@ -1555,7 +1571,7 @@ ylim([-200, 20]);
 yticks([-180:45:180]);
 
 linkaxes([ax1,ax2],'x');
-xlim([f(1), f(end)]);
+xlim([freqs(1), freqs(end)]);
 #+end_src
 
 #+begin_src matlab :tangle no :exports results :results file none
@@ -2642,7 +2658,7 @@ hold off;
 xlabel('$D_y$ [$\mu$m]'); ylabel('$D_z$ [$\mu$m]');
 axis equal
 xlim([-200, 200]); ylim([-100, 100]);
-xticks([-200:100:200]); yticks([-100:50:100]);
+xticks([-200:50:200]); yticks([-100:50:100]);
 #+end_src
 
 #+begin_src matlab :tangle no :exports results :results file none