46 lines
1.1 KiB
Mathematica
46 lines
1.1 KiB
Mathematica
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%%
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clear; close all; clc;
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% Load controllers
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load('./mat/K_iff_sisotool.mat', ...
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'K_iff_light_vc', 'K_iff_light_pz', ...
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'K_iff_heavy_vc', 'K_iff_heavy_pz');
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%%
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initializeSample(struct('mass', 1));
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initializeHexapod(struct('actuator', 'lorentz'));
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K_iff = K_iff_light_vc; %#ok
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save('./mat/controllers.mat', 'K_iff', '-append');
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G_light_vc_iff = identifyPlant();
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initializeHexapod(struct('actuator', 'piezo'));
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K_iff = K_iff_light_pz; %#ok
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save('./mat/controllers.mat', 'K_iff', '-append');
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G_light_pz_iff = identifyPlant();
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%%
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initializeSample(struct('mass', 50));
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initializeHexapod(struct('actuator', 'lorentz'));
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K_iff = K_iff_heavy_vc; %#ok
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save('./mat/controllers.mat', 'K_iff', '-append');
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G_heavy_vc_iff = identifyPlant();
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initializeHexapod(struct('actuator', 'piezo'));
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K_iff = K_iff_heavy_pz;
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save('./mat/controllers.mat', 'K_iff', '-append');
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G_heavy_pz_iff = identifyPlant();
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%% Save the obtained transfer functions
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save('./mat/G_iff.mat', ...
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'G_light_vc_iff', 'G_light_pz_iff', ...
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'G_heavy_vc_iff', 'G_heavy_pz_iff');
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