figs/inkscape/convert_svg.sh

@@ -1,18 +0,0 @@
-#!/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

@@ -268,16 +268,8 @@ 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)))
-    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
+isstable(feedback(G_iff_m25_Rz,       Kiff_pure_int, 1))
+isstable(feedback(G_iff_m25_Rz_no_kp, Kiff_pure_int, 1))
 
 %% IFF Controller Design
 % Second order high pass filter

simscape-nass.org

@@ -1176,16 +1176,8 @@ 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);
-
-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
+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