#+TITLE: Simscape Model - Nano Active Stabilization System
:DRAWER:
#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas

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  <p>This report is also available as a <a href="./simscape-nass.pdf">pdf</a>.</p>
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* Build                                                             :noexport:
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* Notes                                                             :noexport:

The goals of this report are:
- ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/positioning_error.org][positioning_error]]): Explain how the NASS control is made (computation of the wanted position, measurement of the sample position, computation of the errors)
- ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_experiment.org][uncertainty_experiment]]): Effect of experimental conditions on the plant (payload mass, Ry position, Rz position, Rz velocity, etc...)
- Determination of the optimal stiffness for the hexapod actuators: [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_optimal_stiffness.org][uncertainty_optimal_stiffness]], [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/optimal_stiffness_disturbances.org][optimal_stiffness_disturbances]], [[file:~/Cloud/work-projects/ID31-NASS/documents/state-of-thesis-2020/index.org][state-of-thesis-2020]]
- Explain why HAC-LAC strategy is nice (maybe already explained earlier) ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control.org][control]], [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-vibration-isolation.org][hexapod - vibration isolation]])
- How to apply/optimize IFF on an hexapod? ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control_active_damping.org][control_active_damping]], [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-active-damping.org][active damping for stewart platforms]])
- ([[file:~/Cloud/research/matlab/decoupling-strategies/svd-control.org][decoupling-strategies]]): Decoupling strategies for HAC?
- Validation of the concept using simulations:
  - [ ] Find where this simulation in OL/CL is made
  - Tomography experiment (maybe also Ty scans)
  - Open VS Closed loop results
  - *Conclusion*: concept validation
    nano hexapod architecture with APA
    decentralized IFF + centralized HAC

* Introduction                                                        :ignore:


#+name: tab:simscape_nass_section_matlab_code
#+caption: Report sections and corresponding Matlab files
#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX
#+attr_latex: :center t :booktabs t
| *Sections*                        | *Matlab File*        |
|-----------------------------------+----------------------|
| Section ref:sec:simscape_nass_1_a | =simscape_nass_1_.m= |


* Section 1
:PROPERTIES:
:HEADER-ARGS:matlab+: :tangle matlab/simscape_nass_1.m
:END:
<<sec:simscape_nass_1_a>>
** Introduction                                                      :ignore:

** Matlab Init                                              :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>>
#+end_src

#+begin_src matlab :exports none :results silent :noweb yes
<<matlab-init>>
#+end_src

#+begin_src matlab :tangle no :noweb yes
<<m-init-path>>
#+end_src

#+begin_src matlab :eval no :noweb yes
<<m-init-path-tangle>>
#+end_src

#+begin_src matlab :noweb yes
<<m-init-other>>
#+end_src

#+begin_src matlab
%% Uniaxial Simscape model name
mdl = 'nass_uniaxial_model';
#+end_src

#+begin_src matlab
%% Frequency Vector [Hz]
freqs = logspace(0, 3, 1000);
#+end_src

#+begin_src matlab
%% Load the micro-station parameters
load('uniaxial_micro_station_parameters.mat')
#+end_src


* Conclusion
<<sec:simscape_nass_conclusion>>

* Bibliography                                                        :ignore:
#+latex: \printbibliography[heading=bibintoc,title={Bibliography}]

* Helping Functions                                                 :noexport:
** Initialize Path
#+NAME: m-init-path
#+BEGIN_SRC matlab
%% Path for functions, data and scripts
addpath('./matlab/mat/'); % Path for data
addpath('./matlab/');     % Path for scripts
#+END_SRC

#+NAME: m-init-path-tangle
#+BEGIN_SRC matlab
%% Path for functions, data and scripts
addpath('./mat/'); % Path for data
#+END_SRC

** Initialize other elements
#+NAME: m-init-other
#+BEGIN_SRC matlab
%% Colors for the figures
colors = colororder;
#+END_SRC