Add disp and warning in Matlab code

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/nass_1_active_damping.m

@@ -268,8 +268,16 @@ xlim([freqs(1), freqs(end)]);
 
 %% Verify that parallel stiffness permits to have a stable plant
 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
 % Second order high pass filter

simscape-nass.org

@@ -1176,8 +1176,16 @@ The overall gain was then increased to obtain a large loop gain around the reson
 #+begin_src matlab
 %% Verify that parallel stiffness permits to have a stable plant
 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
 
 #+begin_src matlab