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Add disp and warning in Matlab code

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This commit is contained in:
Thomas Dehaeze 2025-04-15 09:56:08 +02:00
parent 8f7a8b3b16
commit a0e74fdeba
2 changed files with 20 additions and 4 deletions
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12
matlab/nass_1_active_damping.m
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@ -268,8 +268,16 @@ xlim([freqs(1), freqs(end)]);
%% Verify that parallel stiffness permits to have a stable plant %% Verify that parallel stiffness permits to have a stable plant
Kiff_pure_int = -200/s*eye(6); Kiff_pure_int = -200/s*eye(6);
isstable(feedback(G_iff_m25_Rz, Kiff_pure_int, 1))
isstable(feedback(G_iff_m25_Rz_no_kp, Kiff_pure_int, 1)) if not(isstable(feedback(G_iff_m25_Rz, Kiff_pure_int, 1)))
disp("Decentralized IFF is not stable with rotation")
end
if isstable(feedback(G_iff_m25_Rz_no_kp, Kiff_pure_int, 1))
disp("Parallel stiffness makes the decentralized IFF stable")
else
warning("Decentralized IFF is not stable even with the parallel stiffness")
end
%% IFF Controller Design %% IFF Controller Design
% Second order high pass filter % Second order high pass filter

12
simscape-nass.org
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@ -1176,8 +1176,16 @@ The overall gain was then increased to obtain a large loop gain around the reson
#+begin_src matlab #+begin_src matlab
%% Verify that parallel stiffness permits to have a stable plant %% Verify that parallel stiffness permits to have a stable plant
Kiff_pure_int = -200/s*eye(6); Kiff_pure_int = -200/s*eye(6);
isstable(feedback(G_iff_m25_Rz, Kiff_pure_int, 1))
isstable(feedback(G_iff_m25_Rz_no_kp, Kiff_pure_int, 1)) if not(isstable(feedback(G_iff_m25_Rz, Kiff_pure_int, 1)))
disp("Decentralized IFF is not stable with rotation")
end
if isstable(feedback(G_iff_m25_Rz_no_kp, Kiff_pure_int, 1))
disp("Parallel stiffness makes the decentralized IFF stable")
else
warning("Decentralized IFF is not stable even with the parallel stiffness")
end
#+end_src #+end_src
#+begin_src matlab #+begin_src matlab