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< h1 class = "title" > Identification of the Stewart Platform using Simscape< / h1 >
< div id = "table-of-contents" >
< h2 > Table of Contents< / h2 >
< div id = "text-table-of-contents" >
< ul >
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< li > < a href = "#org5e5b5f3" > 1. Identification< / a > < / li >
< li > < a href = "#orge4ddae7" > 2. Cartesian Plot< / a > < / li >
< li > < a href = "#orgc3f5223" > 3. From a force to force sensor< / a > < / li >
< li > < a href = "#org1795f38" > 4. From a force applied in the leg to the displacement of the leg< / a > < / li >
< li > < a href = "#org3e4873e" > 5. Transmissibility< / a > < / li >
< li > < a href = "#org1ab2176" > 6. Compliance< / a > < / li >
< li > < a href = "#orgf18ed8c" > 7. Inertial< / a > < / li >
< li > < a href = "#org9ed65c5" > 8. identifyPlant< / a > < / li >
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< / ul >
< / div >
< / div >
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< div id = "outline-container-org5e5b5f3" class = "outline-2" >
< h2 id = "org5e5b5f3" > < span class = "section-number-2" > 1< / span > Identification< / h2 >
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< div class = "outline-text-2" id = "text-1" >
< p >
The hexapod structure and Sample structure are initialized.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > stewart = initializeGeneralConfiguration< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
stewart = computeGeometricalProperties< span class = "org-rainbow-delimiters-depth-1" > (< / span > stewart< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
stewart = initializeMechanicalElements< span class = "org-rainbow-delimiters-depth-1" > (< / span > stewart< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
save< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > './mat/stewart.mat', 'stewart'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
initializeSample< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
< / pre >
< / div >
< div class = "org-src-container" >
< pre class = "src src-matlab" > G = identifyPlant< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
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< / pre >
< / div >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > freqs = logspace< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 4< / span > , < span class = "org-highlight-numbers-number" > 1000< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
< / div >
< / div >
< / div >
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< div id = "outline-container-orge4ddae7" class = "outline-2" >
< h2 id = "orge4ddae7" > < span class = "section-number-2" > 2< / span > Cartesian Plot< / h2 >
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< div class = "outline-text-2" id = "text-2" >
< p >
From a force applied in the Cartesian frame to a displacement in the Cartesian frame.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
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hold on;
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plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_cart< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_cart< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_cart< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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hold off;
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< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
< / pre >
< / div >
< div class = "org-src-container" >
< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
bode< span class = "org-rainbow-delimiters-depth-1" > (< / span > G.G_cart, freqs< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
< / div >
< / div >
< / div >
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< div id = "outline-container-orgc3f5223" class = "outline-2" >
< h2 id = "orgc3f5223" > < span class = "section-number-2" > 3< / span > From a force to force sensor< / h2 >
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< div class = "outline-text-2" id = "text-3" >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
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hold on;
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plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_forc< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k-', 'DisplayName', '$F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > m_i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > /F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > $'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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hold off;
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< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > N/N< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
legend< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'location', 'southeast'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
< / div >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
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hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_forc< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k-', 'DisplayName', '$F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > m_i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > /F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > $'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_forc< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'DisplayName', '$F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > m_j< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > /F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > $'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_forc< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_forc< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 4< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_forc< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 5< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_forc< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 6< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > N/N< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
legend< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'location', 'southeast'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
< / div >
< / div >
< / div >
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< div id = "outline-container-org1795f38" class = "outline-2" >
< h2 id = "org1795f38" > < span class = "section-number-2" > 4< / span > From a force applied in the leg to the displacement of the leg< / h2 >
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< div class = "outline-text-2" id = "text-4" >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
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hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_legs< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k-', 'DisplayName', '$D_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > /F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > $'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > m/N< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
< / div >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_legs< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k-', 'DisplayName', '$D_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > /F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > $'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_legs< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'DisplayName', '$D_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > j< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > /F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > $'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_legs< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_legs< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 4< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_legs< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 5< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_legs< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 6< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > m/N< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
legend< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'location', 'northeast'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< / div >
< / div >
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< div id = "outline-container-org3e4873e" class = "outline-2" >
< h2 id = "org3e4873e" > < span class = "section-number-2" > 5< / span > Transmissibility< / h2 >
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< div class = "outline-text-2" id = "text-5" >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 2< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > , < span class = "org-highlight-numbers-number" > 3< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > m/m< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 4< / span > , < span class = "org-highlight-numbers-number" > 4< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 5< / span > , < span class = "org-highlight-numbers-number" > 5< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 6< / span > , < span class = "org-highlight-numbers-number" > 6< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > '< / span > Amplitude < span class = "org-rainbow-delimiters-depth-2" > [< / span > $< span class = "org-type" > \< / span > frac< span class = "org-rainbow-delimiters-depth-3" > {< / span > rad< span class = "org-type" > /< / span > s< span class = "org-rainbow-delimiters-depth-3" > }{< / span > rad< span class = "org-type" > /< / span > s< span class = "org-rainbow-delimiters-depth-3" > }< / span > $< span class = "org-rainbow-delimiters-depth-2" > ]< / span > '< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 2< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 3< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > m/m< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< / div >
< / div >
2019-08-26 11:58:44 +02:00
< div id = "outline-container-org1ab2176" class = "outline-2" >
< h2 id = "org1ab2176" > < span class = "section-number-2" > 6< / span > Compliance< / h2 >
2019-03-22 12:03:59 +01:00
< div class = "outline-text-2" id = "text-6" >
< p >
From a force applied in the Cartesian frame to a relative displacement of the mobile platform with respect to the base.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
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plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_comp< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_comp< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 2< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_comp< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > , < span class = "org-highlight-numbers-number" > 3< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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hold off;
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< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > m/N< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
< / div >
< / div >
< / div >
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< div id = "outline-container-orgf18ed8c" class = "outline-2" >
< h2 id = "orgf18ed8c" > < span class = "section-number-2" > 7< / span > Inertial< / h2 >
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< div class = "outline-text-2" id = "text-7" >
< p >
From a force applied on the Cartesian frame to the absolute displacement of the mobile platform.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
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hold on;
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plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_iner< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_iner< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 2< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_iner< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > , < span class = "org-highlight-numbers-number" > 3< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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hold off;
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< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > m/N< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
< / div >
< / div >
< / div >
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< div id = "outline-container-org9ed65c5" class = "outline-2" >
< h2 id = "org9ed65c5" > < span class = "section-number-2" > 8< / span > identifyPlant< / h2 >
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< div class = "outline-text-2" id = "text-8" >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-keyword" > function< / span > < span class = "org-variable-name" > < span class = "org-rainbow-delimiters-depth-1" > [< / span > < / span > < span class = "org-variable-name" > sys< / span > < span class = "org-variable-name" > < span class = "org-rainbow-delimiters-depth-1" > ]< / span > < / span > = < span class = "org-function-name" > identifyPlant< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > opts_param< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
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< / pre >
< / div >
< p >
We use this code block to pass optional parameters.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Default values for opts< / span > < / span >
opts = struct< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Populate opts with input parameters< / span > < / span >
< span class = "org-keyword" > if< / span > exist< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'opts_param','var'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
< span class = "org-keyword" > for< / span > < span class = "org-variable-name" > opt< / span > = < span class = "org-constant" > fieldnames< / span > < span class = "org-constant" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-constant" > opts_param< / span > < span class = "org-constant" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-constant" > '< / span >
opts.< span class = "org-rainbow-delimiters-depth-1" > (< / span > opt< span class = "org-rainbow-delimiters-depth-2" > {< / span > < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = opts_param.< span class = "org-rainbow-delimiters-depth-1" > (< / span > opt< span class = "org-rainbow-delimiters-depth-2" > {< / span > < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
< span class = "org-keyword" > end< / span >
< span class = "org-keyword" > end< / span >
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< / pre >
< / div >
< p >
We defined the options for the < code > linearize< / code > command.
Here, we just identify the system at time \(t = 0\).
< / p >
< div class = "org-src-container" >
< pre class = "src src-matlab" > options = linearizeOptions;
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options.SampleTime = < span class = "org-highlight-numbers-number" > 0< / span > ;
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< / pre >
< / div >
< p >
We define the name of the Simulink File used to identification.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > mdl = < span class = "org-string" > 'stewart'< / span > ;
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< / pre >
< / div >
< p >
Then we defined the input/output of the transfer function we want to identify.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Inputs< / span > < / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > F'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'input'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Cartesian forces< / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > Fl'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'input'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Leg forces< / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > Fd'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'input'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Direct forces< / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 4< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > Dw'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'input'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Base motion< / span >
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Outputs< / span > < / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 5< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > Dm'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'output'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Relative Motion< / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 6< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > Dlm'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'output'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Displacement of each leg< / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 7< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > Flm'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'output'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Force sensor in each leg< / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 8< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > Xm'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'output'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Absolute motion of platform< / span >
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< / pre >
< / div >
< p >
The linearization is run.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > G = linearize< span class = "org-rainbow-delimiters-depth-1" > (< / span > mdl, io, < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
< / div >
< p >
We defined all the Input/Output names of the identified transfer function.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > G.InputName = < span class = "org-rainbow-delimiters-depth-1" > {< / span > < span class = "org-string" > 'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'< / span > , < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'F1', 'F2', 'F3', 'F4', 'F5', 'F6'< / span > , < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'< / span > , < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'Dwx', 'Dwy', 'Dwz', 'Rwx', 'Rwy', 'Rwz'< / span > < span class = "org-rainbow-delimiters-depth-1" > }< / span > ;
G.OutputName = < span class = "org-rainbow-delimiters-depth-1" > {< / span > < span class = "org-string" > 'Dxm', 'Dym', 'Dzm', 'Rxm', 'Rym', 'Rzm'< / span > , < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'D1m', 'D2m', 'D3m', 'D4m', 'D5m', 'D6m'< / span > , < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'F1m', 'F2m', 'F3m', 'F4m', 'F5m', 'F6m'< / span > , < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'Dxtm', 'Dytm', 'Dztm', 'Rxtm', 'Rytm', 'Rztm'< / span > < span class = "org-rainbow-delimiters-depth-1" > }< / span > ;
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< / pre >
< / div >
< p >
We split the transfer function into sub transfer functions and we compute their minimum realization.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > sys.G_cart = minreal< span class = "org-rainbow-delimiters-depth-1" > (< / span > G< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < span class = "org-string" > 'Dxm', 'Dym', 'Dzm', 'Rxm', 'Rym', 'Rzm'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < / span > < span class = "org-string" > , < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < / span > < span class = "org-string" > 'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'< / span > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
sys.G_forc = minreal< span class = "org-rainbow-delimiters-depth-1" > (< / span > G< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < span class = "org-string" > 'F1m', 'F2m', 'F3m', 'F4m', 'F5m', 'F6m'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < / span > < span class = "org-string" > , < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < / span > < span class = "org-string" > 'F1', 'F2', 'F3', 'F4', 'F5', 'F6'< / span > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
sys.G_legs = minreal< span class = "org-rainbow-delimiters-depth-1" > (< / span > G< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < span class = "org-string" > 'D1m', 'D2m', 'D3m', 'D4m', 'D5m', 'D6m'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < / span > < span class = "org-string" > , < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < / span > < span class = "org-string" > 'F1', 'F2', 'F3', 'F4', 'F5', 'F6'< / span > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
sys.G_tran = minreal< span class = "org-rainbow-delimiters-depth-1" > (< / span > G< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < span class = "org-string" > 'Dxtm', 'Dytm', 'Dztm', 'Rxtm', 'Rytm', 'Rztm'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < / span > < span class = "org-string" > , < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < / span > < span class = "org-string" > 'Dwx', 'Dwy', 'Dwz', 'Rwx', 'Rwy', 'Rwz'< / span > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
sys.G_comp = minreal< span class = "org-rainbow-delimiters-depth-1" > (< / span > G< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < span class = "org-string" > 'Dxm', 'Dym', 'Dzm', 'Rxm', 'Rym', 'Rzm'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < / span > < span class = "org-string" > , < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < / span > < span class = "org-string" > 'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'< / span > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
sys.G_iner = minreal< span class = "org-rainbow-delimiters-depth-1" > (< / span > G< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < span class = "org-string" > 'Dxtm', 'Dytm', 'Dztm', 'Rxtm', 'Rytm', 'Rztm'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < / span > < span class = "org-string" > , < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < / span > < span class = "org-string" > 'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'< / span > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
< span class = "org-comment" > % sys.G_all = minreal(G);< / span >
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< pre class = "src src-matlab" > < span class = "org-keyword" > end< / span >
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< p class = "author" > Author: Thomas Dehaeze< / p >
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< p class = "date" > Created: 2019-08-26 lun. 11:55< / p >
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< p class = "validation" > < a href = "http://validator.w3.org/check?uri=referer" > Validate< / a > < / p >
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