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< a accesskey = "h" href = "./index.html" > UP < / a >
|
< a accesskey = "H" href = "./index.html" > HOME < / a >
< / div > < div id = "content" >
< h1 class = "title" > Stewart Platform - Dynamics Study< / 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 = "#orgdae5fe1" > Some tests< / a >
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< ul >
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< li > < a href = "#orga032902" > Simscape Model< / a > < / li >
< li > < a href = "#orgdbd3cde" > test< / a > < / li >
< li > < a href = "#orgc59e712" > Compare external forces and forces applied by the actuators< / a > < / li >
< li > < a href = "#org81ab204" > Comparison of the static transfer function and the Compliance matrix< / a > < / li >
< li > < a href = "#orge663148" > Transfer function from forces applied in the legs to the displacement of the legs< / a > < / li >
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< / ul >
< / li >
< / ul >
< / div >
< / div >
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< div id = "outline-container-orgdae5fe1" class = "outline-2" >
< h2 id = "orgdae5fe1" > Some tests< / h2 >
< div class = "outline-text-2" id = "text-orgdae5fe1" >
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< / div >
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< div id = "outline-container-orga032902" class = "outline-3" >
< h3 id = "orga032902" > Simscape Model< / h3 >
< div class = "outline-text-3" id = "text-orga032902" >
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< div class = "org-src-container" >
< pre class = "src src-matlab" > open(< span class = "org-string" > 'stewart_platform_dynamics.slx'< / span > )
< / pre >
< / div >
< / div >
< / div >
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< div id = "outline-container-orgdbd3cde" class = "outline-3" >
< h3 id = "orgdbd3cde" > test< / h3 >
< div class = "outline-text-3" id = "text-orgdbd3cde" >
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< div class = "org-src-container" >
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< pre class = "src src-matlab" > stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart);
stewart = generateGeneralConfiguration(stewart);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart);
stewart = initializeCylindricalPlatforms(stewart);
stewart = initializeCylindricalStruts(stewart);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart);
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< / pre >
< / div >
< p >
Estimation of the transfer function from \(\mathcal{\bm{F}}\) to \(\mathcal{\bm{X}}\):
< / p >
< div class = "org-src-container" >
< pre class = "src src-matlab" > < span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Options for Linearized< / span > < / span >
options = linearizeOptions;
options.SampleTime = 0;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Name of the Simulink File< / span > < / span >
mdl = < span class = "org-string" > 'stewart_platform_dynamics'< / span > ;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Input/Output definition< / span > < / span >
clear io; io_i = 1;
io(io_i) = linio([mdl, < span class = "org-string" > '/F'< / span > ], 1, < span class = "org-string" > 'openinput'< / span > ); io_i = io_i < span class = "org-type" > +< / span > 1;
io(io_i) = linio([mdl, < span class = "org-string" > '/X'< / span > ], 1, < span class = "org-string" > 'openoutput'< / span > ); io_i = io_i < span class = "org-type" > +< / span > 1;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Run the linearization< / span > < / span >
G = linearize(mdl, io, options);
G.InputName = {< span class = "org-string" > 'Fx'< / span > , < span class = "org-string" > 'Fy'< / span > , < span class = "org-string" > 'Fz'< / span > , < span class = "org-string" > 'Mx'< / span > , < span class = "org-string" > 'My'< / span > , < span class = "org-string" > 'Mz'< / span > };
G.OutputName = {< span class = "org-string" > 'Edx'< / span > , < span class = "org-string" > 'Edy'< / span > , < span class = "org-string" > 'Edz'< / span > , < span class = "org-string" > 'Erx'< / span > , < span class = "org-string" > 'Ery'< / span > , < span class = "org-string" > 'Erz'< / span > };
< / pre >
< / div >
< div class = "org-src-container" >
< pre class = "src src-matlab" > < span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Options for Linearized< / span > < / span >
options = linearizeOptions;
options.SampleTime = 0;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Name of the Simulink File< / span > < / span >
mdl = < span class = "org-string" > 'stewart_platform_dynamics'< / span > ;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Input/Output definition< / span > < / span >
clear io; io_i = 1;
io(io_i) = linio([mdl, < span class = "org-string" > '/J-T'< / span > ], 1, < span class = "org-string" > 'openinput'< / span > ); io_i = io_i < span class = "org-type" > +< / span > 1;
io(io_i) = linio([mdl, < span class = "org-string" > '/X'< / span > ], 1, < span class = "org-string" > 'openoutput'< / span > ); io_i = io_i < span class = "org-type" > +< / span > 1;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Run the linearization< / span > < / span >
G = linearize(mdl, io, options);
G.InputName = {< span class = "org-string" > 'F1'< / span > , < span class = "org-string" > 'F2'< / span > , < span class = "org-string" > 'F3'< / span > , < span class = "org-string" > 'F4'< / span > , < span class = "org-string" > 'F5'< / span > , < span class = "org-string" > 'F6'< / span > };
G.OutputName = {< span class = "org-string" > 'Edx'< / span > , < span class = "org-string" > 'Edy'< / span > , < span class = "org-string" > 'Edz'< / span > , < span class = "org-string" > 'Erx'< / span > , < span class = "org-string" > 'Ery'< / span > , < span class = "org-string" > 'Erz'< / span > };
< / pre >
< / div >
< div class = "org-src-container" >
< pre class = "src src-matlab" > G_cart = minreal(G< span class = "org-type" > *< / span > inv(stewart.J< span class = "org-type" > '< / span > ));
G_cart.InputName = {< span class = "org-string" > 'Fnx'< / span > , < span class = "org-string" > 'Fny'< / span > , < span class = "org-string" > 'Fnz'< / span > , < span class = "org-string" > 'Mnx'< / span > , < span class = "org-string" > 'Mny'< / span > , < span class = "org-string" > 'Mnz'< / span > };
< / pre >
< / div >
< div class = "org-src-container" >
< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ; bode(G, G_cart)
< / pre >
< / div >
< div class = "org-src-container" >
< pre class = "src src-matlab" > < span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Options for Linearized< / span > < / span >
options = linearizeOptions;
options.SampleTime = 0;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Name of the Simulink File< / span > < / span >
mdl = < span class = "org-string" > 'stewart_platform_dynamics'< / span > ;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Input/Output definition< / span > < / span >
clear io; io_i = 1;
io(io_i) = linio([mdl, < span class = "org-string" > '/Fext'< / span > ], 1, < span class = "org-string" > 'openinput'< / span > ); io_i = io_i < span class = "org-type" > +< / span > 1;
io(io_i) = linio([mdl, < span class = "org-string" > '/X'< / span > ], 1, < span class = "org-string" > 'openoutput'< / span > ); io_i = io_i < span class = "org-type" > +< / span > 1;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Run the linearization< / span > < / span >
Gd = linearize(mdl, io, options);
Gd.InputName = {< span class = "org-string" > 'Fex'< / span > , < span class = "org-string" > 'Fey'< / span > , < span class = "org-string" > 'Fez'< / span > , < span class = "org-string" > 'Mex'< / span > , < span class = "org-string" > 'Mey'< / span > , < span class = "org-string" > 'Mez'< / span > };
Gd.OutputName = {< span class = "org-string" > 'Edx'< / span > , < span class = "org-string" > 'Edy'< / span > , < span class = "org-string" > 'Edz'< / span > , < span class = "org-string" > 'Erx'< / span > , < span class = "org-string" > 'Ery'< / span > , < span class = "org-string" > 'Erz'< / span > };
< / pre >
< / div >
< div class = "org-src-container" >
< pre class = "src src-matlab" > freqs = logspace(0, 3, 1000);
< span class = "org-type" > figure< / span > ;
bode(Gd, G)
< / pre >
< / div >
< / div >
< / div >
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< div id = "outline-container-orgc59e712" class = "outline-3" >
< h3 id = "orgc59e712" > Compare external forces and forces applied by the actuators< / h3 >
< div class = "outline-text-3" id = "text-orgc59e712" >
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< p >
Initialization of the Stewart platform.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart);
stewart = generateGeneralConfiguration(stewart);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart);
stewart = initializeCylindricalPlatforms(stewart);
stewart = initializeCylindricalStruts(stewart);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart);
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< / pre >
< / div >
< p >
Estimation of the transfer function from \(\mathcal{\bm{F}}\) to \(\mathcal{\bm{X}}\):
< / p >
< div class = "org-src-container" >
< pre class = "src src-matlab" > < span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Options for Linearized< / span > < / span >
options = linearizeOptions;
options.SampleTime = 0;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Name of the Simulink File< / span > < / span >
mdl = < span class = "org-string" > 'stewart_platform_dynamics'< / span > ;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Input/Output definition< / span > < / span >
clear io; io_i = 1;
io(io_i) = linio([mdl, < span class = "org-string" > '/F'< / span > ], 1, < span class = "org-string" > 'openinput'< / span > ); io_i = io_i < span class = "org-type" > +< / span > 1;
io(io_i) = linio([mdl, < span class = "org-string" > '/X'< / span > ], 1, < span class = "org-string" > 'openoutput'< / span > ); io_i = io_i < span class = "org-type" > +< / span > 1;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Run the linearization< / span > < / span >
G = linearize(mdl, io, options);
G.InputName = {< span class = "org-string" > 'Fx'< / span > , < span class = "org-string" > 'Fy'< / span > , < span class = "org-string" > 'Fz'< / span > , < span class = "org-string" > 'Mx'< / span > , < span class = "org-string" > 'My'< / span > , < span class = "org-string" > 'Mz'< / span > };
G.OutputName = {< span class = "org-string" > 'Edx'< / span > , < span class = "org-string" > 'Edy'< / span > , < span class = "org-string" > 'Edz'< / span > , < span class = "org-string" > 'Erx'< / span > , < span class = "org-string" > 'Ery'< / span > , < span class = "org-string" > 'Erz'< / span > };
< / pre >
< / div >
< p >
Estimation of the transfer function from \(\mathcal{\bm{F}}_{d}\) to \(\mathcal{\bm{X}}\):
< / p >
< div class = "org-src-container" >
< pre class = "src src-matlab" > < span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Options for Linearized< / span > < / span >
options = linearizeOptions;
options.SampleTime = 0;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Name of the Simulink File< / span > < / span >
mdl = < span class = "org-string" > 'stewart_platform_dynamics'< / span > ;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Input/Output definition< / span > < / span >
clear io; io_i = 1;
io(io_i) = linio([mdl, < span class = "org-string" > '/Fext'< / span > ], 1, < span class = "org-string" > 'openinput'< / span > ); io_i = io_i < span class = "org-type" > +< / span > 1;
io(io_i) = linio([mdl, < span class = "org-string" > '/X'< / span > ], 1, < span class = "org-string" > 'openoutput'< / span > ); io_i = io_i < span class = "org-type" > +< / span > 1;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Run the linearization< / span > < / span >
Gd = linearize(mdl, io, options);
Gd.InputName = {< span class = "org-string" > 'Fex'< / span > , < span class = "org-string" > 'Fey'< / span > , < span class = "org-string" > 'Fez'< / span > , < span class = "org-string" > 'Mex'< / span > , < span class = "org-string" > 'Mey'< / span > , < span class = "org-string" > 'Mez'< / span > };
Gd.OutputName = {< span class = "org-string" > 'Edx'< / span > , < span class = "org-string" > 'Edy'< / span > , < span class = "org-string" > 'Edz'< / span > , < span class = "org-string" > 'Erx'< / span > , < span class = "org-string" > 'Ery'< / span > , < span class = "org-string" > 'Erz'< / span > };
< / pre >
< / div >
< p >
Comparison of the two transfer function matrices.
< / p >
< div class = "org-src-container" >
< pre class = "src src-matlab" > freqs = logspace(0, 4, 1000);
< span class = "org-type" > figure< / span > ;
bode(Gd, G, freqs)
< / pre >
< / div >
< div class = "important" >
< p >
Seems quite similar.
< / p >
< / div >
< / div >
< / div >
2020-02-11 15:27:39 +01:00
< div id = "outline-container-org81ab204" class = "outline-3" >
< h3 id = "org81ab204" > Comparison of the static transfer function and the Compliance matrix< / h3 >
< div class = "outline-text-3" id = "text-org81ab204" >
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< p >
Initialization of the Stewart platform.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart);
stewart = generateGeneralConfiguration(stewart);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart);
stewart = initializeCylindricalPlatforms(stewart);
stewart = initializeCylindricalStruts(stewart);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart);
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< / pre >
< / div >
< p >
Estimation of the transfer function from \(\mathcal{\bm{F}}\) to \(\mathcal{\bm{X}}\):
< / p >
< div class = "org-src-container" >
< pre class = "src src-matlab" > < span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Options for Linearized< / span > < / span >
options = linearizeOptions;
options.SampleTime = 0;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Name of the Simulink File< / span > < / span >
mdl = < span class = "org-string" > 'stewart_platform_dynamics'< / span > ;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Input/Output definition< / span > < / span >
clear io; io_i = 1;
io(io_i) = linio([mdl, < span class = "org-string" > '/F'< / span > ], 1, < span class = "org-string" > 'openinput'< / span > ); io_i = io_i < span class = "org-type" > +< / span > 1;
io(io_i) = linio([mdl, < span class = "org-string" > '/X'< / span > ], 1, < span class = "org-string" > 'openoutput'< / span > ); io_i = io_i < span class = "org-type" > +< / span > 1;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Run the linearization< / span > < / span >
G = linearize(mdl, io, options);
G.InputName = {< span class = "org-string" > 'Fx'< / span > , < span class = "org-string" > 'Fy'< / span > , < span class = "org-string" > 'Fz'< / span > , < span class = "org-string" > 'Mx'< / span > , < span class = "org-string" > 'My'< / span > , < span class = "org-string" > 'Mz'< / span > };
G.OutputName = {< span class = "org-string" > 'Edx'< / span > , < span class = "org-string" > 'Edy'< / span > , < span class = "org-string" > 'Edz'< / span > , < span class = "org-string" > 'Erx'< / span > , < span class = "org-string" > 'Ery'< / span > , < span class = "org-string" > 'Erz'< / span > };
< / pre >
< / div >
< p >
Let’ s first look at the low frequency transfer function matrix from \(\mathcal{\bm{F}}\) to \(\mathcal{\bm{X}}\).
< / p >
< table border = "2" cellspacing = "0" cellpadding = "6" rules = "groups" frame = "hsides" >
< colgroup >
< col class = "org-right" / >
< col class = "org-right" / >
< col class = "org-right" / >
< col class = "org-right" / >
< col class = "org-right" / >
< col class = "org-right" / >
< / colgroup >
< tbody >
< tr >
< td class = "org-right" > 2.0e-06< / td >
< td class = "org-right" > -9.1e-19< / td >
< td class = "org-right" > -5.3e-12< / td >
< td class = "org-right" > 7.3e-18< / td >
< td class = "org-right" > 1.7e-05< / td >
< td class = "org-right" > 1.3e-18< / td >
< / tr >
< tr >
< td class = "org-right" > -1.7e-18< / td >
< td class = "org-right" > 2.0e-06< / td >
< td class = "org-right" > 8.6e-19< / td >
< td class = "org-right" > -1.7e-05< / td >
< td class = "org-right" > -1.5e-17< / td >
< td class = "org-right" > 6.7e-12< / td >
< / tr >
< tr >
< td class = "org-right" > 3.6e-13< / td >
< td class = "org-right" > 3.2e-19< / td >
< td class = "org-right" > 5.0e-07< / td >
< td class = "org-right" > -2.5e-18< / td >
< td class = "org-right" > 8.1e-12< / td >
< td class = "org-right" > -1.5e-19< / td >
< / tr >
< tr >
< td class = "org-right" > 1.0e-17< / td >
< td class = "org-right" > -1.7e-05< / td >
< td class = "org-right" > -5.0e-18< / td >
< td class = "org-right" > 1.9e-04< / td >
< td class = "org-right" > 9.1e-17< / td >
< td class = "org-right" > -3.5e-11< / td >
< / tr >
< tr >
< td class = "org-right" > 1.7e-05< / td >
< td class = "org-right" > -6.9e-19< / td >
< td class = "org-right" > -5.3e-11< / td >
< td class = "org-right" > 6.9e-18< / td >
< td class = "org-right" > 1.9e-04< / td >
< td class = "org-right" > 4.8e-18< / td >
< / tr >
< tr >
< td class = "org-right" > -3.5e-18< / td >
< td class = "org-right" > -4.5e-12< / td >
< td class = "org-right" > 1.5e-18< / td >
< td class = "org-right" > 7.1e-11< / td >
< td class = "org-right" > -3.4e-17< / td >
< td class = "org-right" > 4.6e-05< / td >
< / tr >
< / tbody >
< / table >
< p >
And now at the Compliance matrix.
< / p >
< table border = "2" cellspacing = "0" cellpadding = "6" rules = "groups" frame = "hsides" >
< colgroup >
< col class = "org-right" / >
< col class = "org-right" / >
< col class = "org-right" / >
< col class = "org-right" / >
< col class = "org-right" / >
< col class = "org-right" / >
< / colgroup >
< tbody >
< tr >
< td class = "org-right" > 2.0e-06< / td >
< td class = "org-right" > 2.9e-22< / td >
< td class = "org-right" > 2.8e-22< / td >
< td class = "org-right" > -3.2e-21< / td >
< td class = "org-right" > 1.7e-05< / td >
< td class = "org-right" > 1.5e-37< / td >
< / tr >
< tr >
< td class = "org-right" > -2.1e-22< / td >
< td class = "org-right" > 2.0e-06< / td >
< td class = "org-right" > -1.8e-23< / td >
< td class = "org-right" > -1.7e-05< / td >
< td class = "org-right" > -2.3e-21< / td >
< td class = "org-right" > 1.1e-22< / td >
< / tr >
< tr >
< td class = "org-right" > 3.1e-22< / td >
< td class = "org-right" > -1.6e-23< / td >
< td class = "org-right" > 5.0e-07< / td >
< td class = "org-right" > 1.7e-22< / td >
< td class = "org-right" > 2.2e-21< / td >
< td class = "org-right" > -8.1e-39< / td >
< / tr >
< tr >
< td class = "org-right" > 2.1e-21< / td >
< td class = "org-right" > -1.7e-05< / td >
< td class = "org-right" > 2.0e-22< / td >
< td class = "org-right" > 1.9e-04< / td >
< td class = "org-right" > 2.3e-20< / td >
< td class = "org-right" > -8.7e-21< / td >
< / tr >
< tr >
< td class = "org-right" > 1.7e-05< / td >
< td class = "org-right" > 2.5e-21< / td >
< td class = "org-right" > 2.0e-21< / td >
< td class = "org-right" > -2.8e-20< / td >
< td class = "org-right" > 1.9e-04< / td >
< td class = "org-right" > 1.3e-36< / td >
< / tr >
< tr >
< td class = "org-right" > 3.7e-23< / td >
< td class = "org-right" > 3.1e-22< / td >
< td class = "org-right" > -6.0e-39< / td >
< td class = "org-right" > -1.0e-20< / td >
< td class = "org-right" > 3.1e-22< / td >
< td class = "org-right" > 4.6e-05< / td >
< / tr >
< / tbody >
< / table >
< div class = "important" >
< p >
The low frequency transfer function matrix from \(\mathcal{\bm{F}}\) to \(\mathcal{\bm{X}}\) corresponds to the compliance matrix of the Stewart platform.
< / p >
< / div >
< / div >
< / div >
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< div id = "outline-container-orge663148" class = "outline-3" >
< h3 id = "orge663148" > Transfer function from forces applied in the legs to the displacement of the legs< / h3 >
< div class = "outline-text-3" id = "text-orge663148" >
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< p >
Initialization of the Stewart platform.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart);
stewart = generateGeneralConfiguration(stewart);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart);
stewart = initializeCylindricalPlatforms(stewart);
stewart = initializeCylindricalStruts(stewart);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart);
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< / pre >
< / div >
< p >
Estimation of the transfer function from \(\bm{\tau}\) to \(\bm{L}\):
< / p >
< div class = "org-src-container" >
< pre class = "src src-matlab" > < span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Options for Linearized< / span > < / span >
options = linearizeOptions;
options.SampleTime = 0;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Name of the Simulink File< / span > < / span >
mdl = < span class = "org-string" > 'stewart_platform_dynamics'< / span > ;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Input/Output definition< / span > < / span >
clear io; io_i = 1;
io(io_i) = linio([mdl, < span class = "org-string" > '/J-T'< / span > ], 1, < span class = "org-string" > 'openinput'< / span > ); io_i = io_i < span class = "org-type" > +< / span > 1;
io(io_i) = linio([mdl, < span class = "org-string" > '/L'< / span > ], 1, < span class = "org-string" > 'openoutput'< / span > ); io_i = io_i < span class = "org-type" > +< / span > 1;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Run the linearization< / span > < / span >
G = linearize(mdl, io, options);
G.InputName = {< span class = "org-string" > 'F1'< / span > , < span class = "org-string" > 'F2'< / span > , < span class = "org-string" > 'F3'< / span > , < span class = "org-string" > 'F4'< / span > , < span class = "org-string" > 'F5'< / span > , < span class = "org-string" > 'F6'< / span > };
G.OutputName = {< span class = "org-string" > 'L1'< / span > , < span class = "org-string" > 'L2'< / span > , < span class = "org-string" > 'L3'< / span > , < span class = "org-string" > 'L4'< / span > , < span class = "org-string" > 'L5'< / span > , < span class = "org-string" > 'L6'< / span > };
< / pre >
< / div >
< div class = "org-src-container" >
< pre class = "src src-matlab" > freqs = logspace(1, 3, 1000);
< span class = "org-type" > figure< / span > ; bode(G, 2< span class = "org-type" > *< / span > < span class = "org-constant" > pi< / span > < span class = "org-type" > *< / span > freqs)
< / pre >
< / div >
< div class = "org-src-container" >
< pre class = "src src-matlab" > bodeFig({G(1,1), G(1,2)}, freqs, struct(< span class = "org-string" > 'phase'< / span > , < span class = "org-constant" > true< / span > ));
< / pre >
< / div >
< / div >
< / div >
< / div >
< / div >
< div id = "postamble" class = "status" >
< p class = "author" > Author: Dehaeze Thomas< / p >
2020-02-11 15:27:39 +01:00
< p class = "date" > Created: 2020-02-11 mar. 15:27< / p >
2020-01-22 16:31:44 +01:00
< / div >
< / body >
< / html >
