From e4d9703f112006805347aaa26f1b1ff573c1166a Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Tue, 15 Apr 2025 14:09:12 +0200 Subject: [PATCH] Small Matlab correction --- matlab/nass_1_active_damping.m | 4 ++-- simscape-nass.org | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/matlab/nass_1_active_damping.m b/matlab/nass_1_active_damping.m index 47dd50c..778502d 100644 --- a/matlab/nass_1_active_damping.m +++ b/matlab/nass_1_active_damping.m @@ -269,11 +269,11 @@ xlim([freqs(1), freqs(end)]); %% Verify that parallel stiffness permits to have a stable plant Kiff_pure_int = -200/s*eye(6); -if not(isstable(feedback(G_iff_m25_Rz, Kiff_pure_int, 1))) +if isstable(feedback(G_iff_m25_Rz_no_kp, 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)) +if not(isstable(feedback(G_iff_m25_Rz, Kiff_pure_int, 1))) disp("Parallel stiffness makes the decentralized IFF stable") else warning("Decentralized IFF is not stable even with the parallel stiffness") diff --git a/simscape-nass.org b/simscape-nass.org index 1a9365f..8ac8f46 100644 --- a/simscape-nass.org +++ b/simscape-nass.org @@ -1177,11 +1177,11 @@ The overall gain was then increased to obtain a large loop gain around the reson %% Verify that parallel stiffness permits to have a stable plant Kiff_pure_int = -200/s*eye(6); -if not(isstable(feedback(G_iff_m25_Rz, Kiff_pure_int, 1))) +if isstable(feedback(G_iff_m25_Rz_no_kp, 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)) +if not(isstable(feedback(G_iff_m25_Rz, Kiff_pure_int, 1))) disp("Parallel stiffness makes the decentralized IFF stable") else warning("Decentralized IFF is not stable even with the parallel stiffness")