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2024-09-25 15:18:35 +02:00 · 2021-01-08 15:54:58 +01:00 · 2021-01-08 15:36:11 +01:00 · 2021-01-08 15:34:53 +01:00 · 2020-11-03 08:55:08 +01:00 · 2020-09-07 23:17:07 +02:00
93 changed files with 104131 additions and 11826 deletions
--- a/docs/bibliography.html
+++ b/docs/bibliography.html
--- a/docs/control-active-damping.html
+++ b/docs/control-active-damping.html
@@ -3,25 +3,30 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2020-08-05 mer. 13:27 -->
+<!-- 2021-01-08 ven. 15:53 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <title>Stewart Platform - Decentralized Active Damping</title>
 <meta name="generator" content="Org mode" />
 <meta name="author" content="Dehaeze Thomas" />
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+               tags: "ams",
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-          <script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
+           <script id="MathJax-script" async
+             src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-svg.js"></script>
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 <body>
 <div id="org-div-home-and-up">
@@ -34,35 +39,35 @@
 <h2>Table of Contents</h2>
 <div id="text-table-of-contents">
 <ul>
-<li><a href="#orgc22d5d6">1. Inertial Control</a>
+<li><a href="#orgddaf52f">1. Inertial Control</a>
 <ul>
-<li><a href="#org1671c0b">1.1. Identification of the Dynamics</a></li>
-<li><a href="#orgdae44ba">1.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
-<li><a href="#org89e2002">1.3. Obtained Damping</a></li>
-<li><a href="#org3904320">1.4. Conclusion</a></li>
+<li><a href="#org933440d">1.1. Identification of the Dynamics</a></li>
+<li><a href="#org2875dd1">1.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
+<li><a href="#org0cea759">1.3. Obtained Damping</a></li>
+<li><a href="#orga866100">1.4. Conclusion</a></li>
 </ul>
 </li>
-<li><a href="#org89e426a">2. Integral Force Feedback</a>
+<li><a href="#orgf8ed544">2. Integral Force Feedback</a>
 <ul>
-<li><a href="#orgcb85703">2.1. Identification of the Dynamics with perfect Joints</a></li>
-<li><a href="#org4ca24f7">2.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
-<li><a href="#org11e5ee2">2.3. Obtained Damping</a></li>
-<li><a href="#orgca67baa">2.4. Conclusion</a></li>
+<li><a href="#orga2d019b">2.1. Identification of the Dynamics with perfect Joints</a></li>
+<li><a href="#org6ac04ee">2.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
+<li><a href="#org06e1086">2.3. Obtained Damping</a></li>
+<li><a href="#orgfa832d6">2.4. Conclusion</a></li>
 </ul>
 </li>
-<li><a href="#org47a29be">3. Direct Velocity Feedback</a>
+<li><a href="#orgabec4e1">3. Direct Velocity Feedback</a>
 <ul>
-<li><a href="#orgc82a6a7">3.1. Identification of the Dynamics with perfect Joints</a></li>
-<li><a href="#org92d6cb1">3.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
-<li><a href="#org7497409">3.3. Obtained Damping</a></li>
-<li><a href="#org61c422b">3.4. Conclusion</a></li>
+<li><a href="#org19cbcee">3.1. Identification of the Dynamics with perfect Joints</a></li>
+<li><a href="#org0fabf01">3.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
+<li><a href="#org6c74c9a">3.3. Obtained Damping</a></li>
+<li><a href="#org81b2156">3.4. Conclusion</a></li>
 </ul>
 </li>
-<li><a href="#orgc84bb75">4. Compliance and Transmissibility Comparison</a>
+<li><a href="#orgc7e2089">4. Compliance and Transmissibility Comparison</a>
 <ul>
-<li><a href="#orgebeb03b">4.1. Initialization</a></li>
-<li><a href="#orgdde930c">4.2. Identification</a></li>
-<li><a href="#orgcfd0381">4.3. Results</a></li>
+<li><a href="#org6ec3b9e">4.1. Initialization</a></li>
+<li><a href="#orge87554a">4.2. Identification</a></li>
+<li><a href="#org1d70ccd">4.3. Results</a></li>
 </ul>
 </li>
 </ul>
@@ -73,19 +78,19 @@
 The following decentralized active damping techniques are briefly studied:
 </p>
 <ul class="org-ul">
-<li>Inertial Control (proportional feedback of the absolute velocity): Section <a href="#orgb2aa4b3">1</a></li>
-<li>Integral Force Feedback: Section <a href="#org44cadc6">2</a></li>
-<li>Direct feedback of the relative velocity of each strut: Section <a href="#orgbdd1eba">3</a></li>
+<li>Inertial Control (proportional feedback of the absolute velocity): Section <a href="#org709d56c">1</a></li>
+<li>Integral Force Feedback: Section <a href="#org1f0d316">2</a></li>
+<li>Direct feedback of the relative velocity of each strut: Section <a href="#org63027d0">3</a></li>
 </ul>

-<div id="outline-container-orgc22d5d6" class="outline-2">
-<h2 id="orgc22d5d6"><span class="section-number-2">1</span> Inertial Control</h2>
+<div id="outline-container-orgddaf52f" class="outline-2">
+<h2 id="orgddaf52f"><span class="section-number-2">1</span> Inertial Control</h2>
 <div class="outline-text-2" id="text-1">
 <p>
-<a id="orgb2aa4b3"></a>
+<a id="org709d56c"></a>
 </p>

-<div class="note">
+<div class="note" id="org1ae7526">
 <p>
 The Matlab script corresponding to this section is accessible <a href="../matlab/active_damping_inertial.m">here</a>.
 </p>
@@ -97,56 +102,56 @@ To run the script, open the Simulink Project, and type <code>run active_damping_
 </div>
 </div>

-<div id="outline-container-org1671c0b" class="outline-3">
-<h3 id="org1671c0b"><span class="section-number-3">1.1</span> Identification of the Dynamics</h3>
+<div id="outline-container-org933440d" class="outline-3">
+<h3 id="org933440d"><span class="section-number-3">1.1</span> Identification of the Dynamics</h3>
 <div class="outline-text-3" id="text-1-1">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart = initializeStewartPlatform();
-stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
+stewart = initializeFramesPositions(stewart, <span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 45e<span class="org-type">-</span>3);
 stewart = generateGeneralConfiguration(stewart);
 stewart = computeJointsPose(stewart);
 stewart = initializeStrutDynamics(stewart);
-stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
+stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal_p'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical_p'</span>);
 stewart = initializeCylindricalPlatforms(stewart);
 stewart = initializeCylindricalStruts(stewart);
 stewart = computeJacobian(stewart);
 stewart = initializeStewartPose(stewart);
-stewart = initializeInertialSensor(stewart, 'type', 'accelerometer', 'freq', 5e3);
+stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</span>, <span class="org-string">'accelerometer'</span>, <span class="org-string">'freq'</span>, 5e3);
 </pre>
 </div>

 <div class="org-src-container">
-<pre class="src src-matlab">ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
-payload = initializePayload('type', 'none');
-controller = initializeController('type', 'open-loop');
+<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'rot_point'</span>, stewart.platform_F.FO_A);
+payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
 </pre>
 </div>

 <div class="org-src-container">
-<pre class="src src-matlab">%% Options for Linearized
+<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
 options = linearizeOptions;
 options.SampleTime = 0;

-%% Name of the Simulink File
-mdl = 'stewart_platform_model';
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
+mdl = <span class="org-string">'stewart_platform_model'</span>;

-%% Input/Output definition
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
 clear io; io_i = 1;
-io(io_i) = linio([mdl, '/Controller'],        1, 'openinput');  io_i = io_i + 1; % Actuator Force Inputs [N]
-io(io_i) = linio([mdl, '/Stewart Platform'],  1, 'openoutput', [], 'Vm'); io_i = io_i + 1; % Absolute velocity of each leg [m/s]
+io(io_i) = linio([mdl, <span class="org-string">'/Controller'</span>],        1, <span class="org-string">'openinput'</span>);  io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Actuator Force Inputs [N]</span>
+io(io_i) = linio([mdl, <span class="org-string">'/Stewart Platform'</span>],  1, <span class="org-string">'openoutput'</span>, [], <span class="org-string">'Vm'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Absolute velocity of each leg [m/s]</span>

-%% Run the linearization
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
 G = linearize(mdl, io, options);
-G.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
-G.OutputName = {'Vm1', 'Vm2', 'Vm3', 'Vm4', 'Vm5', 'Vm6'};
+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">'Vm1'</span>, <span class="org-string">'Vm2'</span>, <span class="org-string">'Vm3'</span>, <span class="org-string">'Vm4'</span>, <span class="org-string">'Vm5'</span>, <span class="org-string">'Vm6'</span>};
 </pre>
 </div>

 <p>
-The transfer function from actuator forces to force sensors is shown in Figure <a href="#org116ea42">1</a>.
+The transfer function from actuator forces to force sensors is shown in Figure <a href="#org5cd47c9">1</a>.
 </p>

-<div id="org116ea42" class="figure">
+<div id="org5cd47c9" class="figure">
 <p><img src="figs/inertial_plant_coupling.png" alt="inertial_plant_coupling.png" />
 </p>
 <p><span class="figure-number">Figure 1: </span>Transfer function from the Actuator force \(F_{i}\) to the absolute velocity of the same leg \(v_{m,i}\) and to the absolute velocity of the other legs \(v_{m,j}\) with \(i \neq j\) in grey (<a href="./figs/inertial_plant_coupling.png">png</a>, <a href="./figs/inertial_plant_coupling.pdf">pdf</a>)</p>
@@ -154,17 +159,17 @@ The transfer function from actuator forces to force sensors is shown in Figure <
 </div>
 </div>

-<div id="outline-container-orgdae44ba" class="outline-3">
-<h3 id="orgdae44ba"><span class="section-number-3">1.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
+<div id="outline-container-org2875dd1" class="outline-3">
+<h3 id="org2875dd1"><span class="section-number-3">1.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
 <div class="outline-text-3" id="text-1-2">
 <p>
 We add some stiffness and damping in the flexible joints and we re-identify the dynamics.
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">stewart = initializeJointDynamics(stewart, 'type_F', 'universal', 'type_M', 'spherical');
+<pre class="src src-matlab">stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical'</span>);
 Gf = linearize(mdl, io, options);
-Gf.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
-Gf.OutputName = {'Vm1', 'Vm2', 'Vm3', 'Vm4', 'Vm5', 'Vm6'};
+Gf.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>};
+Gf.OutputName = {<span class="org-string">'Vm1'</span>, <span class="org-string">'Vm2'</span>, <span class="org-string">'Vm3'</span>, <span class="org-string">'Vm4'</span>, <span class="org-string">'Vm5'</span>, <span class="org-string">'Vm6'</span>};
 </pre>
 </div>

@@ -174,16 +179,16 @@ We now use the amplified actuators and re-identify the dynamics
 <div class="org-src-container">
 <pre class="src src-matlab">stewart = initializeAmplifiedStrutDynamics(stewart);
 Ga = linearize(mdl, io, options);
-Ga.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
-Ga.OutputName = {'Vm1', 'Vm2', 'Vm3', 'Vm4', 'Vm5', 'Vm6'};
+Ga.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>};
+Ga.OutputName = {<span class="org-string">'Vm1'</span>, <span class="org-string">'Vm2'</span>, <span class="org-string">'Vm3'</span>, <span class="org-string">'Vm4'</span>, <span class="org-string">'Vm5'</span>, <span class="org-string">'Vm6'</span>};
 </pre>
 </div>

 <p>
-The new dynamics from force actuator to force sensor is shown in Figure <a href="#org620efcd">2</a>.
+The new dynamics from force actuator to force sensor is shown in Figure <a href="#org8fcc87b">2</a>.
 </p>

-<div id="org620efcd" class="figure">
+<div id="org8fcc87b" class="figure">
 <p><img src="figs/inertial_plant_flexible_joint_decentralized.png" alt="inertial_plant_flexible_joint_decentralized.png" />
 </p>
 <p><span class="figure-number">Figure 2: </span>Transfer function from the Actuator force \(F_{i}\) to the absolute velocity sensor \(v_{m,i}\) (<a href="./figs/inertial_plant_flexible_joint_decentralized.png">png</a>, <a href="./figs/inertial_plant_flexible_joint_decentralized.pdf">pdf</a>)</p>
@@ -191,8 +196,8 @@ The new dynamics from force actuator to force sensor is shown in Figure <a href=
 </div>
 </div>

-<div id="outline-container-org89e2002" class="outline-3">
-<h3 id="org89e2002"><span class="section-number-3">1.3</span> Obtained Damping</h3>
+<div id="outline-container-org0cea759" class="outline-3">
+<h3 id="org0cea759"><span class="section-number-3">1.3</span> Obtained Damping</h3>
 <div class="outline-text-3" id="text-1-3">
 <p>
 The control is a performed in a decentralized manner.
@@ -206,10 +211,10 @@ The \(6 \times 6\) control is a diagonal matrix with pure proportional action on
 </p>

 <p>
-The root locus is shown in figure <a href="#org9cabaee">3</a>.
+The root locus is shown in figure <a href="#orgaea8656">3</a>.
 </p>

-<div id="org9cabaee" class="figure">
+<div id="orgaea8656" class="figure">
 <p><img src="figs/root_locus_inertial_rot_stiffness.png" alt="root_locus_inertial_rot_stiffness.png" />
 </p>
 <p><span class="figure-number">Figure 3: </span>Root Locus plot with Decentralized Inertial Control when considering the stiffness of flexible joints (<a href="./figs/root_locus_inertial_rot_stiffness.png">png</a>, <a href="./figs/root_locus_inertial_rot_stiffness.pdf">pdf</a>)</p>
@@ -217,10 +222,10 @@ The root locus is shown in figure <a href="#org9cabaee">3</a>.
 </div>
 </div>

-<div id="outline-container-org3904320" class="outline-3">
-<h3 id="org3904320"><span class="section-number-3">1.4</span> Conclusion</h3>
+<div id="outline-container-orga866100" class="outline-3">
+<h3 id="orga866100"><span class="section-number-3">1.4</span> Conclusion</h3>
 <div class="outline-text-3" id="text-1-4">
-<div class="important">
+<div class="important" id="org91c21ee">
 <p>
 We do not have guaranteed stability with Inertial control. This is because of the flexibility inside the internal sensor.
 </p>
@@ -230,14 +235,14 @@ We do not have guaranteed stability with Inertial control. This is because of th
 </div>
 </div>

-<div id="outline-container-org89e426a" class="outline-2">
-<h2 id="org89e426a"><span class="section-number-2">2</span> Integral Force Feedback</h2>
+<div id="outline-container-orgf8ed544" class="outline-2">
+<h2 id="orgf8ed544"><span class="section-number-2">2</span> Integral Force Feedback</h2>
 <div class="outline-text-2" id="text-2">
 <p>
-<a id="org44cadc6"></a>
+<a id="org1f0d316"></a>
 </p>

-<div class="note">
+<div class="note" id="org30f755d">
 <p>
 The Matlab script corresponding to this section is accessible <a href="../matlab/active_damping_iff.m">here</a>.
 </p>
@@ -249,31 +254,31 @@ To run the script, open the Simulink Project, and type <code>run active_damping_
 </div>
 </div>

-<div id="outline-container-orgcb85703" class="outline-3">
-<h3 id="orgcb85703"><span class="section-number-3">2.1</span> Identification of the Dynamics with perfect Joints</h3>
+<div id="outline-container-orga2d019b" class="outline-3">
+<h3 id="orga2d019b"><span class="section-number-3">2.1</span> Identification of the Dynamics with perfect Joints</h3>
 <div class="outline-text-3" id="text-2-1">
 <p>
 We first initialize the Stewart platform without joint stiffness.
 </p>
 <div class="org-src-container">
 <pre class="src src-matlab">stewart = initializeStewartPlatform();
-stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
+stewart = initializeFramesPositions(stewart, <span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 45e<span class="org-type">-</span>3);
 stewart = generateGeneralConfiguration(stewart);
 stewart = computeJointsPose(stewart);
 stewart = initializeStrutDynamics(stewart);
-stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
+stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal_p'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical_p'</span>);
 stewart = initializeCylindricalPlatforms(stewart);
 stewart = initializeCylindricalStruts(stewart);
 stewart = computeJacobian(stewart);
 stewart = initializeStewartPose(stewart);
-stewart = initializeInertialSensor(stewart, 'type', 'none');
+stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
 </pre>
 </div>

 <div class="org-src-container">
-<pre class="src src-matlab">ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
-payload = initializePayload('type', 'none');
-controller = initializeController('type', 'open-loop');
+<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'rot_point'</span>, stewart.platform_F.FO_A);
+payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
 </pre>
 </div>

@@ -281,26 +286,26 @@ controller = initializeController('type', 'open-loop');
 And we identify the dynamics from force actuators to force sensors.
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">%% Name of the Simulink File
-mdl = 'stewart_platform_model';
+<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
+mdl = <span class="org-string">'stewart_platform_model'</span>;

-%% Input/Output definition
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
 clear io; io_i = 1;
-io(io_i) = linio([mdl, '/Controller'],        1, 'openinput');  io_i = io_i + 1; % Actuator Force Inputs [N]
-io(io_i) = linio([mdl, '/Stewart Platform'],  1, 'openoutput', [], 'Taum'); io_i = io_i + 1; % Force Sensor Outputs [N]
+io(io_i) = linio([mdl, <span class="org-string">'/Controller'</span>],        1, <span class="org-string">'openinput'</span>);  io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Actuator Force Inputs [N]</span>
+io(io_i) = linio([mdl, <span class="org-string">'/Stewart Platform'</span>],  1, <span class="org-string">'openoutput'</span>, [], <span class="org-string">'Taum'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Force Sensor Outputs [N]</span>

-%% Run the linearization
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
 G = linearize(mdl, io);
-G.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
-G.OutputName = {'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};
+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">'Fm1'</span>, <span class="org-string">'Fm2'</span>, <span class="org-string">'Fm3'</span>, <span class="org-string">'Fm4'</span>, <span class="org-string">'Fm5'</span>, <span class="org-string">'Fm6'</span>};
 </pre>
 </div>

 <p>
-The transfer function from actuator forces to force sensors is shown in Figure <a href="#org8f016dc">4</a>.
+The transfer function from actuator forces to force sensors is shown in Figure <a href="#org3b3de64">4</a>.
 </p>

-<div id="org8f016dc" class="figure">
+<div id="org3b3de64" class="figure">
 <p><img src="figs/iff_plant_coupling.png" alt="iff_plant_coupling.png" />
 </p>
 <p><span class="figure-number">Figure 4: </span>Transfer function from the Actuator force \(F_{i}\) to the Force sensor of the same leg \(F_{m,i}\) and to the force sensor of the other legs \(F_{m,j}\) with \(i \neq j\) in grey (<a href="./figs/iff_plant_coupling.png">png</a>, <a href="./figs/iff_plant_coupling.pdf">pdf</a>)</p>
@@ -308,17 +313,17 @@ The transfer function from actuator forces to force sensors is shown in Figure <
 </div>
 </div>

-<div id="outline-container-org4ca24f7" class="outline-3">
-<h3 id="org4ca24f7"><span class="section-number-3">2.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
+<div id="outline-container-org6ac04ee" class="outline-3">
+<h3 id="org6ac04ee"><span class="section-number-3">2.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
 <div class="outline-text-3" id="text-2-2">
 <p>
 We add some stiffness and damping in the flexible joints and we re-identify the dynamics.
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">stewart = initializeJointDynamics(stewart, 'type_F', 'universal', 'type_M', 'spherical');
+<pre class="src src-matlab">stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical'</span>);
 Gf = linearize(mdl, io);
-Gf.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
-Gf.OutputName = {'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};
+Gf.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>};
+Gf.OutputName = {<span class="org-string">'Fm1'</span>, <span class="org-string">'Fm2'</span>, <span class="org-string">'Fm3'</span>, <span class="org-string">'Fm4'</span>, <span class="org-string">'Fm5'</span>, <span class="org-string">'Fm6'</span>};
 </pre>
 </div>

@@ -328,16 +333,16 @@ We now use the amplified actuators and re-identify the dynamics
 <div class="org-src-container">
 <pre class="src src-matlab">stewart = initializeAmplifiedStrutDynamics(stewart);
 Ga = linearize(mdl, io);
-Ga.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
-Ga.OutputName = {'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};
+Ga.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>};
+Ga.OutputName = {<span class="org-string">'Fm1'</span>, <span class="org-string">'Fm2'</span>, <span class="org-string">'Fm3'</span>, <span class="org-string">'Fm4'</span>, <span class="org-string">'Fm5'</span>, <span class="org-string">'Fm6'</span>};
 </pre>
 </div>

 <p>
-The new dynamics from force actuator to force sensor is shown in Figure <a href="#org4a92e1b">5</a>.
+The new dynamics from force actuator to force sensor is shown in Figure <a href="#org1902b8f">5</a>.
 </p>

-<div id="org4a92e1b" class="figure">
+<div id="org1902b8f" class="figure">
 <p><img src="figs/iff_plant_flexible_joint_decentralized.png" alt="iff_plant_flexible_joint_decentralized.png" />
 </p>
 <p><span class="figure-number">Figure 5: </span>Transfer function from the Actuator force \(F_{i}\) to the force sensor \(F_{m,i}\) (<a href="./figs/iff_plant_flexible_joint_decentralized.png">png</a>, <a href="./figs/iff_plant_flexible_joint_decentralized.pdf">pdf</a>)</p>
@@ -345,8 +350,8 @@ The new dynamics from force actuator to force sensor is shown in Figure <a href=
 </div>
 </div>

-<div id="outline-container-org11e5ee2" class="outline-3">
-<h3 id="org11e5ee2"><span class="section-number-3">2.3</span> Obtained Damping</h3>
+<div id="outline-container-org06e1086" class="outline-3">
+<h3 id="org06e1086"><span class="section-number-3">2.3</span> Obtained Damping</h3>
 <div class="outline-text-3" id="text-2-3">
 <p>
 The control is a performed in a decentralized manner.
@@ -360,17 +365,17 @@ The \(6 \times 6\) control is a diagonal matrix with pure integration action on
 </p>

 <p>
-The root locus is shown in figure <a href="#orgc8981ba">6</a> and the obtained pole damping function of the control gain is shown in figure <a href="#orgd7fefc7">7</a>.
+The root locus is shown in figure <a href="#orgce5d8d8">6</a> and the obtained pole damping function of the control gain is shown in figure <a href="#org67419cd">7</a>.
 </p>

-<div id="orgc8981ba" class="figure">
+<div id="orgce5d8d8" class="figure">
 <p><img src="figs/root_locus_iff_rot_stiffness.png" alt="root_locus_iff_rot_stiffness.png" />
 </p>
 <p><span class="figure-number">Figure 6: </span>Root Locus plot with Decentralized Integral Force Feedback when considering the stiffness of flexible joints (<a href="./figs/root_locus_iff_rot_stiffness.png">png</a>, <a href="./figs/root_locus_iff_rot_stiffness.pdf">pdf</a>)</p>
 </div>


-<div id="orgd7fefc7" class="figure">
+<div id="org67419cd" class="figure">
 <p><img src="figs/pole_damping_gain_iff_rot_stiffness.png" alt="pole_damping_gain_iff_rot_stiffness.png" />
 </p>
 <p><span class="figure-number">Figure 7: </span>Damping of the poles with respect to the gain of the Decentralized Integral Force Feedback when considering the stiffness of flexible joints (<a href="./figs/pole_damping_gain_iff_rot_stiffness.png">png</a>, <a href="./figs/pole_damping_gain_iff_rot_stiffness.pdf">pdf</a>)</p>
@@ -378,10 +383,10 @@ The root locus is shown in figure <a href="#orgc8981ba">6</a> and the obtained p
 </div>
 </div>

-<div id="outline-container-orgca67baa" class="outline-3">
-<h3 id="orgca67baa"><span class="section-number-3">2.4</span> Conclusion</h3>
+<div id="outline-container-orgfa832d6" class="outline-3">
+<h3 id="orgfa832d6"><span class="section-number-3">2.4</span> Conclusion</h3>
 <div class="outline-text-3" id="text-2-4">
-<div class="important">
+<div class="important" id="orgad0c17b">
 <p>
 The joint stiffness has a huge impact on the attainable active damping performance when using force sensors.
 Thus, if Integral Force Feedback is to be used in a Stewart platform with flexible joints, the rotational stiffness of the joints should be minimized.
@@ -392,14 +397,14 @@ Thus, if Integral Force Feedback is to be used in a Stewart platform with flexib
 </div>
 </div>

-<div id="outline-container-org47a29be" class="outline-2">
-<h2 id="org47a29be"><span class="section-number-2">3</span> Direct Velocity Feedback</h2>
+<div id="outline-container-orgabec4e1" class="outline-2">
+<h2 id="orgabec4e1"><span class="section-number-2">3</span> Direct Velocity Feedback</h2>
 <div class="outline-text-2" id="text-3">
 <p>
-<a id="orgbdd1eba"></a>
+<a id="org63027d0"></a>
 </p>

-<div class="note">
+<div class="note" id="orgadea9d6">
 <p>
 The Matlab script corresponding to this section is accessible <a href="../matlab/active_damping_dvf.m">here</a>.
 </p>
@@ -411,31 +416,31 @@ To run the script, open the Simulink Project, and type <code>run active_damping_
 </div>
 </div>

-<div id="outline-container-orgc82a6a7" class="outline-3">
-<h3 id="orgc82a6a7"><span class="section-number-3">3.1</span> Identification of the Dynamics with perfect Joints</h3>
+<div id="outline-container-org19cbcee" class="outline-3">
+<h3 id="org19cbcee"><span class="section-number-3">3.1</span> Identification of the Dynamics with perfect Joints</h3>
 <div class="outline-text-3" id="text-3-1">
 <p>
 We first initialize the Stewart platform without joint stiffness.
 </p>
 <div class="org-src-container">
 <pre class="src src-matlab">stewart = initializeStewartPlatform();
-stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
+stewart = initializeFramesPositions(stewart, <span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 45e<span class="org-type">-</span>3);
 stewart = generateGeneralConfiguration(stewart);
 stewart = computeJointsPose(stewart);
 stewart = initializeStrutDynamics(stewart);
-stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
+stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal_p'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical_p'</span>);
 stewart = initializeCylindricalPlatforms(stewart);
 stewart = initializeCylindricalStruts(stewart);
 stewart = computeJacobian(stewart);
 stewart = initializeStewartPose(stewart);
-stewart = initializeInertialSensor(stewart, 'type', 'none');
+stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
 </pre>
 </div>

 <div class="org-src-container">
-<pre class="src src-matlab">ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
-payload = initializePayload('type', 'none');
-controller = initializeController('type', 'open-loop');
+<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'rot_point'</span>, stewart.platform_F.FO_A);
+payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
 </pre>
 </div>

@@ -443,30 +448,30 @@ controller = initializeController('type', 'open-loop');
 And we identify the dynamics from force actuators to force sensors.
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">%% Options for Linearized
+<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
 options = linearizeOptions;
 options.SampleTime = 0;

-%% Name of the Simulink File
-mdl = 'stewart_platform_model';
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
+mdl = <span class="org-string">'stewart_platform_model'</span>;

-%% Input/Output definition
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
 clear io; io_i = 1;
-io(io_i) = linio([mdl, '/Controller'],        1, 'openinput');  io_i = io_i + 1; % Actuator Force Inputs [N]
-io(io_i) = linio([mdl, '/Stewart Platform'],  1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m]
+io(io_i) = linio([mdl, <span class="org-string">'/Controller'</span>],        1, <span class="org-string">'openinput'</span>);  io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Actuator Force Inputs [N]</span>
+io(io_i) = linio([mdl, <span class="org-string">'/Stewart Platform'</span>],  1, <span class="org-string">'openoutput'</span>, [], <span class="org-string">'dLm'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Relative Displacement Outputs [m]</span>

-%% Run the linearization
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
 G = linearize(mdl, io, options);
-G.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
-G.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6'};
+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">'Dm1'</span>, <span class="org-string">'Dm2'</span>, <span class="org-string">'Dm3'</span>, <span class="org-string">'Dm4'</span>, <span class="org-string">'Dm5'</span>, <span class="org-string">'Dm6'</span>};
 </pre>
 </div>

 <p>
-The transfer function from actuator forces to relative motion sensors is shown in Figure <a href="#org6de423c">8</a>.
+The transfer function from actuator forces to relative motion sensors is shown in Figure <a href="#org34c24ba">8</a>.
 </p>

-<div id="org6de423c" class="figure">
+<div id="org34c24ba" class="figure">
 <p><img src="figs/dvf_plant_coupling.png" alt="dvf_plant_coupling.png" />
 </p>
 <p><span class="figure-number">Figure 8: </span>Transfer function from the Actuator force \(F_{i}\) to the Relative Motion Sensor \(D_{m,j}\) with \(i \neq j\) (<a href="./figs/dvf_plant_coupling.png">png</a>, <a href="./figs/dvf_plant_coupling.pdf">pdf</a>)</p>
@@ -475,17 +480,17 @@ The transfer function from actuator forces to relative motion sensors is shown i
 </div>


-<div id="outline-container-org92d6cb1" class="outline-3">
-<h3 id="org92d6cb1"><span class="section-number-3">3.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
+<div id="outline-container-org0fabf01" class="outline-3">
+<h3 id="org0fabf01"><span class="section-number-3">3.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
 <div class="outline-text-3" id="text-3-2">
 <p>
 We add some stiffness and damping in the flexible joints and we re-identify the dynamics.
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">stewart = initializeJointDynamics(stewart, 'type_F', 'universal', 'type_M', 'spherical');
+<pre class="src src-matlab">stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical'</span>);
 Gf = linearize(mdl, io, options);
-Gf.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
-Gf.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6'};
+Gf.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>};
+Gf.OutputName = {<span class="org-string">'Dm1'</span>, <span class="org-string">'Dm2'</span>, <span class="org-string">'Dm3'</span>, <span class="org-string">'Dm4'</span>, <span class="org-string">'Dm5'</span>, <span class="org-string">'Dm6'</span>};
 </pre>
 </div>

@@ -495,16 +500,16 @@ We now use the amplified actuators and re-identify the dynamics
 <div class="org-src-container">
 <pre class="src src-matlab">stewart = initializeAmplifiedStrutDynamics(stewart);
 Ga = linearize(mdl, io, options);
-Ga.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
-Ga.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6'};
+Ga.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>};
+Ga.OutputName = {<span class="org-string">'Dm1'</span>, <span class="org-string">'Dm2'</span>, <span class="org-string">'Dm3'</span>, <span class="org-string">'Dm4'</span>, <span class="org-string">'Dm5'</span>, <span class="org-string">'Dm6'</span>};
 </pre>
 </div>

 <p>
-The new dynamics from force actuator to relative motion sensor is shown in Figure <a href="#org5f559a9">9</a>.
+The new dynamics from force actuator to relative motion sensor is shown in Figure <a href="#orgba524e3">9</a>.
 </p>

-<div id="org5f559a9" class="figure">
+<div id="orgba524e3" class="figure">
 <p><img src="figs/dvf_plant_flexible_joint_decentralized.png" alt="dvf_plant_flexible_joint_decentralized.png" />
 </p>
 <p><span class="figure-number">Figure 9: </span>Transfer function from the Actuator force \(F_{i}\) to the relative displacement sensor \(D_{m,i}\) (<a href="./figs/dvf_plant_flexible_joint_decentralized.png">png</a>, <a href="./figs/dvf_plant_flexible_joint_decentralized.pdf">pdf</a>)</p>
@@ -512,8 +517,8 @@ The new dynamics from force actuator to relative motion sensor is shown in Figur
 </div>
 </div>

-<div id="outline-container-org7497409" class="outline-3">
-<h3 id="org7497409"><span class="section-number-3">3.3</span> Obtained Damping</h3>
+<div id="outline-container-org6c74c9a" class="outline-3">
+<h3 id="org6c74c9a"><span class="section-number-3">3.3</span> Obtained Damping</h3>
 <div class="outline-text-3" id="text-3-3">
 <p>
 The control is a performed in a decentralized manner.
@@ -527,10 +532,10 @@ The \(6 \times 6\) control is a diagonal matrix with pure derivative action on t
 </p>

 <p>
-The root locus is shown in figure <a href="#org5e168d0">10</a>.
+The root locus is shown in figure <a href="#org0436b4d">10</a>.
 </p>

-<div id="org5e168d0" class="figure">
+<div id="org0436b4d" class="figure">
 <p><img src="figs/root_locus_dvf_rot_stiffness.png" alt="root_locus_dvf_rot_stiffness.png" />
 </p>
 <p><span class="figure-number">Figure 10: </span>Root Locus plot with Direct Velocity Feedback when considering the Stiffness of flexible joints (<a href="./figs/root_locus_dvf_rot_stiffness.png">png</a>, <a href="./figs/root_locus_dvf_rot_stiffness.pdf">pdf</a>)</p>
@@ -538,10 +543,10 @@ The root locus is shown in figure <a href="#org5e168d0">10</a>.
 </div>
 </div>

-<div id="outline-container-org61c422b" class="outline-3">
-<h3 id="org61c422b"><span class="section-number-3">3.4</span> Conclusion</h3>
+<div id="outline-container-org81b2156" class="outline-3">
+<h3 id="org81b2156"><span class="section-number-3">3.4</span> Conclusion</h3>
 <div class="outline-text-3" id="text-3-4">
-<div class="important">
+<div class="important" id="orgb486ca9">
 <p>
 Joint stiffness does increase the resonance frequencies of the system but does not change the attainable damping when using relative motion sensors.
 </p>
@@ -551,28 +556,28 @@ Joint stiffness does increase the resonance frequencies of the system but does n
 </div>
 </div>

-<div id="outline-container-orgc84bb75" class="outline-2">
-<h2 id="orgc84bb75"><span class="section-number-2">4</span> Compliance and Transmissibility Comparison</h2>
+<div id="outline-container-orgc7e2089" class="outline-2">
+<h2 id="orgc7e2089"><span class="section-number-2">4</span> Compliance and Transmissibility Comparison</h2>
 <div class="outline-text-2" id="text-4">
 </div>
-<div id="outline-container-orgebeb03b" class="outline-3">
-<h3 id="orgebeb03b"><span class="section-number-3">4.1</span> Initialization</h3>
+<div id="outline-container-org6ec3b9e" class="outline-3">
+<h3 id="org6ec3b9e"><span class="section-number-3">4.1</span> Initialization</h3>
 <div class="outline-text-3" id="text-4-1">
 <p>
 We first initialize the Stewart platform without joint stiffness.
 </p>
 <div class="org-src-container">
 <pre class="src src-matlab">stewart = initializeStewartPlatform();
-stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
+stewart = initializeFramesPositions(stewart, <span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 45e<span class="org-type">-</span>3);
 stewart = generateGeneralConfiguration(stewart);
 stewart = computeJointsPose(stewart);
 stewart = initializeStrutDynamics(stewart);
-stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
+stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal_p'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical_p'</span>);
 stewart = initializeCylindricalPlatforms(stewart);
 stewart = initializeCylindricalStruts(stewart);
 stewart = computeJacobian(stewart);
 stewart = initializeStewartPose(stewart);
-stewart = initializeInertialSensor(stewart, 'type', 'none');
+stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
 </pre>
 </div>

@@ -580,22 +585,22 @@ stewart = initializeInertialSensor(stewart, 'type', 'none');
 The rotation point of the ground is located at the origin of frame \(\{A\}\).
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
-payload = initializePayload('type', 'none');
-controller = initializeController('type', 'open-loop');
+<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'rot_point'</span>, stewart.platform_F.FO_A);
+payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
 </pre>
 </div>
 </div>
 </div>

-<div id="outline-container-orgdde930c" class="outline-3">
-<h3 id="orgdde930c"><span class="section-number-3">4.2</span> Identification</h3>
+<div id="outline-container-orge87554a" class="outline-3">
+<h3 id="orge87554a"><span class="section-number-3">4.2</span> Identification</h3>
 <div class="outline-text-3" id="text-4-2">
 <p>
 Let&rsquo;s first identify the transmissibility and compliance in the open-loop case.
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">controller = initializeController('type', 'open-loop');
+<pre class="src src-matlab">controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
 [T_ol, T_norm_ol, freqs] = computeTransmissibility();
 [C_ol, C_norm_ol, freqs] = computeCompliance();
 </pre>
@@ -605,11 +610,11 @@ Let&rsquo;s first identify the transmissibility and compliance in the open-loop
 Now, let&rsquo;s identify the transmissibility and compliance for the Integral Force Feedback architecture.
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">controller = initializeController('type', 'iff');
-K_iff = (1e4/s)*eye(6);
+<pre class="src src-matlab">controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'iff'</span>);
+K_iff = (1e4<span class="org-type">/</span>s)<span class="org-type">*</span>eye(6);

-[T_iff, T_norm_iff, ~] = computeTransmissibility();
-[C_iff, C_norm_iff, ~] = computeCompliance();
+[T_iff, T_norm_iff, <span class="org-type">~</span>] = computeTransmissibility();
+[C_iff, C_norm_iff, <span class="org-type">~</span>] = computeCompliance();
 </pre>
 </div>

@@ -617,35 +622,35 @@ K_iff = (1e4/s)*eye(6);
 And for the Direct Velocity Feedback.
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">controller = initializeController('type', 'dvf');
-K_dvf = 1e4*s/(1+s/2/pi/5000)*eye(6);
+<pre class="src src-matlab">controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'dvf'</span>);
+K_dvf = 1e4<span class="org-type">*</span>s<span class="org-type">/</span>(1<span class="org-type">+</span>s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>5000)<span class="org-type">*</span>eye(6);

-[T_dvf, T_norm_dvf, ~] = computeTransmissibility();
-[C_dvf, C_norm_dvf, ~] = computeCompliance();
+[T_dvf, T_norm_dvf, <span class="org-type">~</span>] = computeTransmissibility();
+[C_dvf, C_norm_dvf, <span class="org-type">~</span>] = computeCompliance();
 </pre>
 </div>
 </div>
 </div>

-<div id="outline-container-orgcfd0381" class="outline-3">
-<h3 id="orgcfd0381"><span class="section-number-3">4.3</span> Results</h3>
+<div id="outline-container-org1d70ccd" class="outline-3">
+<h3 id="org1d70ccd"><span class="section-number-3">4.3</span> Results</h3>
 <div class="outline-text-3" id="text-4-3">

-<div id="orgc1f4c92" class="figure">
+<div id="org908e692" class="figure">
 <p><img src="figs/transmissibility_iff_dvf.png" alt="transmissibility_iff_dvf.png" />
 </p>
 <p><span class="figure-number">Figure 11: </span>Obtained transmissibility for Open-Loop Control (Blue), Integral Force Feedback (Red) and Direct Velocity Feedback (Yellow) (<a href="./figs/transmissibility_iff_dvf.png">png</a>, <a href="./figs/transmissibility_iff_dvf.pdf">pdf</a>)</p>
 </div>


-<div id="org2d1b516" class="figure">
+<div id="orgc10c609" class="figure">
 <p><img src="figs/compliance_iff_dvf.png" alt="compliance_iff_dvf.png" />
 </p>
 <p><span class="figure-number">Figure 12: </span>Obtained compliance for Open-Loop Control (Blue), Integral Force Feedback (Red) and Direct Velocity Feedback (Yellow) (<a href="./figs/compliance_iff_dvf.png">png</a>, <a href="./figs/compliance_iff_dvf.pdf">pdf</a>)</p>
 </div>


-<div id="orgf9b6a2b" class="figure">
+<div id="orgd54f179" class="figure">
 <p><img src="figs/frobenius_norm_T_C_iff_dvf.png" alt="frobenius_norm_T_C_iff_dvf.png" />
 </p>
 <p><span class="figure-number">Figure 13: </span>Frobenius norm of the Transmissibility and Compliance Matrices (<a href="./figs/frobenius_norm_T_C_iff_dvf.png">png</a>, <a href="./figs/frobenius_norm_T_C_iff_dvf.pdf">pdf</a>)</p>
@@ -656,7 +661,7 @@ K_dvf = 1e4*s/(1+s/2/pi/5000)*eye(6);
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-08-05 mer. 13:27</p>
+<p class="date">Created: 2021-01-08 ven. 15:53</p>
 </div>
 </body>
 </html>
--- a/docs/control-tracking.html
+++ b/docs/control-tracking.html
--- a/docs/control-vibration-isolation.html
+++ b/docs/control-vibration-isolation.html
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--- a/docs/css/readtheorg.css
+++ b/docs/css/readtheorg.css
--- a/docs/cubic-configuration.html
+++ b/docs/cubic-configuration.html
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+++ b/docs/dynamics-study.html
@@ -3,25 +3,30 @@
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 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2020-08-05 mer. 13:27 -->
+<!-- 2021-01-08 ven. 15:52 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <title>Stewart Platform - Dynamics Study</title>
 <meta name="generator" content="Org mode" />
 <meta name="author" content="Dehaeze Thomas" />
-<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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-<script src="./js/jquery.stickytableheaders.min.js"></script>
-<script src="./js/readtheorg.js"></script>
-<script>MathJax = {
+<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
+<script>
+           MathJax = {
+             svg: {
+               scale: 1,
+               fontCache: "global"
+             },
             tex: {
-            tags: 'ams',
-            macros: {bm: ["\\boldsymbol{#1}",1],}
+               tags: "ams",
+               multlineWidth: "%MULTLINEWIDTH",
+               tagSide: "right",
+                       macros: {bm: ["\\boldsymbol{#1}",1],},
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-          <script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
+           <script id="MathJax-script" async
+             src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-svg.js"></script>
 </head>
 <body>
 <div id="org-div-home-and-up">
@@ -34,49 +39,49 @@
 <h2>Table of Contents</h2>
 <div id="text-table-of-contents">
 <ul>
-<li><a href="#orgc59e712">1. Compare external forces and forces applied by the actuators</a>
+<li><a href="#org7743c04">1. Compare external forces and forces applied by the actuators</a>
 <ul>
-<li><a href="#org4509b7d">1.1. Comparison with fixed support</a></li>
-<li><a href="#org8662186">1.2. Comparison with a flexible support</a></li>
-<li><a href="#org55e0dad">1.3. Conclusion</a></li>
+<li><a href="#orgc730bef">1.1. Comparison with fixed support</a></li>
+<li><a href="#orgefde538">1.2. Comparison with a flexible support</a></li>
+<li><a href="#orga9eb2fd">1.3. Conclusion</a></li>
 </ul>
 </li>
-<li><a href="#org81ab204">2. Comparison of the static transfer function and the Compliance matrix</a>
+<li><a href="#orgb6a1ef7">2. Comparison of the static transfer function and the Compliance matrix</a>
 <ul>
-<li><a href="#orge7e7242">2.1. Analysis</a></li>
-<li><a href="#org9ee3939">2.2. Conclusion</a></li>
+<li><a href="#org3f1c253">2.1. Analysis</a></li>
+<li><a href="#orge261263">2.2. Conclusion</a></li>
 </ul>
 </li>
 </ul>
 </div>
 </div>

-<div id="outline-container-orgc59e712" class="outline-2">
-<h2 id="orgc59e712"><span class="section-number-2">1</span> Compare external forces and forces applied by the actuators</h2>
+<div id="outline-container-org7743c04" class="outline-2">
+<h2 id="org7743c04"><span class="section-number-2">1</span> Compare external forces and forces applied by the actuators</h2>
 <div class="outline-text-2" id="text-1">
 <p>
 In this section, we wish to compare the effect of forces/torques applied by the actuators with the effect of external forces/torques on the displacement of the mobile platform.
 </p>
 </div>

-<div id="outline-container-org4509b7d" class="outline-3">
-<h3 id="org4509b7d"><span class="section-number-3">1.1</span> Comparison with fixed support</h3>
+<div id="outline-container-orgc730bef" class="outline-3">
+<h3 id="orgc730bef"><span class="section-number-3">1.1</span> Comparison with fixed support</h3>
 <div class="outline-text-3" id="text-1-1">
 <p>
 Let&rsquo;s generate a Stewart platform.
 </p>
 <div class="org-src-container">
 <pre class="src src-matlab">stewart = initializeStewartPlatform();
-stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
+stewart = initializeFramesPositions(stewart, <span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 45e<span class="org-type">-</span>3);
 stewart = generateGeneralConfiguration(stewart);
 stewart = computeJointsPose(stewart);
 stewart = initializeStrutDynamics(stewart);
-stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
+stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal_p'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical_p'</span>);
 stewart = initializeCylindricalPlatforms(stewart);
 stewart = initializeCylindricalStruts(stewart);
 stewart = computeJacobian(stewart);
 stewart = initializeStewartPose(stewart);
-stewart = initializeInertialSensor(stewart, 'type', 'none');
+stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
 </pre>
 </div>

@@ -85,9 +90,9 @@ We don&rsquo;t put any flexibility below the Stewart platform such that <b>its b
 We also don&rsquo;t put any payload on top of the Stewart platform.
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">ground = initializeGround('type', 'none');
-payload = initializePayload('type', 'none');
-controller = initializeController('type', 'open-loop');
+<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
 </pre>
 </div>

@@ -95,22 +100,22 @@ controller = initializeController('type', 'open-loop');
 The transfer function from actuator forces \(\bm{\tau}\) to the relative displacement of the mobile platform \(\mathcal{\bm{X}}\) is extracted.
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">%% Options for Linearized
+<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
 options = linearizeOptions;
 options.SampleTime = 0;

-%% Name of the Simulink File
-mdl = 'stewart_platform_model';
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
+mdl = <span class="org-string">'stewart_platform_model'</span>;

-%% Input/Output definition
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
 clear io; io_i = 1;
-io(io_i) = linio([mdl, '/Controller'],              1, 'openinput');  io_i = io_i + 1; % Actuator Force Inputs [N]
-io(io_i) = linio([mdl, '/Relative Motion Sensor'],  1, 'openoutput'); io_i = io_i + 1; % Position/Orientation of {B} w.r.t. {A}
+io(io_i) = linio([mdl, <span class="org-string">'/Controller'</span>],              1, <span class="org-string">'openinput'</span>);  io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Actuator Force Inputs [N]</span>
+io(io_i) = linio([mdl, <span class="org-string">'/Relative Motion Sensor'</span>],  1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Position/Orientation of {B} w.r.t. {A}</span>

-%% Run the linearization
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
 G = linearize(mdl, io, options);
-G.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
-G.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
+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>

@@ -118,8 +123,8 @@ G.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
 Using the Jacobian matrix, we compute the transfer function from force/torques applied by the actuators on the frame \(\{B\}\) fixed to the mobile platform:
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">Gc = minreal(G*inv(stewart.kinematics.J'));
-Gc.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
+<pre class="src src-matlab">Gc = minreal(G<span class="org-type">*</span>inv(stewart.kinematics.J<span class="org-type">'</span>));
+Gc.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>

@@ -127,35 +132,35 @@ Gc.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
 We also extract the transfer function from external forces \(\bm{\mathcal{F}}_{\text{ext}}\) on the frame \(\{B\}\) fixed to the mobile platform to the relative displacement \(\mathcal{\bm{X}}\) of \(\{B\}\) with respect to frame \(\{A\}\):
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">%% Input/Output definition
+<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
 clear io; io_i = 1;
-io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'F_ext');  io_i = io_i + 1; % External forces/torques applied on {B}
-io(io_i) = linio([mdl, '/Relative Motion Sensor'],  1, 'openoutput'); io_i = io_i + 1; % Position/Orientation of {B} w.r.t. {A}
+io(io_i) = linio([mdl, <span class="org-string">'/Disturbances'</span>], 1, <span class="org-string">'openinput'</span>, [], <span class="org-string">'F_ext'</span>);  io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% External forces/torques applied on {B}</span>
+io(io_i) = linio([mdl, <span class="org-string">'/Relative Motion Sensor'</span>],  1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Position/Orientation of {B} w.r.t. {A}</span>

-%% Run the linearization
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
 Gd = linearize(mdl, io, options);
-Gd.InputName  = {'Fex', 'Fey', 'Fez', 'Mex', 'Mey', 'Mez'};
-Gd.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
+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>
-The comparison of the two transfer functions is shown in Figure <a href="#orgbf9a54a">1</a>.
+The comparison of the two transfer functions is shown in Figure <a href="#org2de43b3">1</a>.
 </p>


-<div id="orgbf9a54a" class="figure">
+<div id="org2de43b3" class="figure">
 <p><img src="figs/comparison_Fext_F_fixed_base.png" alt="comparison_Fext_F_fixed_base.png" />
 </p>
 <p><span class="figure-number">Figure 1: </span>Comparison of the transfer functions from \(\bm{\mathcal{F}}\) to \(\mathcal{\bm{X}}\) and from \(\bm{\mathcal{F}}_{\text{ext}}\) to \(\mathcal{\bm{X}}\) (<a href="./figs/comparison_Fext_F_fixed_base.png">png</a>, <a href="./figs/comparison_Fext_F_fixed_base.pdf">pdf</a>)</p>
 </div>

 <p>
-This can be understood from figure <a href="#org8bd3e63">2</a> where \(\mathcal{F}_{x}\) and \(\mathcal{F}_{x,\text{ext}}\) have clearly the same effect on \(\mathcal{X}_{x}\).
+This can be understood from figure <a href="#orgd6db375">2</a> where \(\mathcal{F}_{x}\) and \(\mathcal{F}_{x,\text{ext}}\) have clearly the same effect on \(\mathcal{X}_{x}\).
 </p>


-<div id="org8bd3e63" class="figure">
+<div id="orgd6db375" class="figure">
 <p><img src="figs/1dof_actuator_external_forces.png" alt="1dof_actuator_external_forces.png" />
 </p>
 <p><span class="figure-number">Figure 2: </span>Schematic representation of the stewart platform on a rigid support</p>
@@ -163,14 +168,14 @@ This can be understood from figure <a href="#org8bd3e63">2</a> where \(\mathcal{
 </div>
 </div>

-<div id="outline-container-org8662186" class="outline-3">
-<h3 id="org8662186"><span class="section-number-3">1.2</span> Comparison with a flexible support</h3>
+<div id="outline-container-orgefde538" class="outline-3">
+<h3 id="orgefde538"><span class="section-number-3">1.2</span> Comparison with a flexible support</h3>
 <div class="outline-text-3" id="text-1-2">
 <p>
 We now add a flexible support under the Stewart platform.
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">ground = initializeGround('type', 'flexible');
+<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'flexible'</span>);
 </pre>
 </div>

@@ -178,50 +183,50 @@ We now add a flexible support under the Stewart platform.
 And we perform again the identification.
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">%% Input/Output definition
+<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
 clear io; io_i = 1;
-io(io_i) = linio([mdl, '/Controller'],              1, 'openinput');  io_i = io_i + 1; % Actuator Force Inputs [N]
-io(io_i) = linio([mdl, '/Relative Motion Sensor'],  1, 'openoutput'); io_i = io_i + 1; % Position/Orientation of {B} w.r.t. {A}
+io(io_i) = linio([mdl, <span class="org-string">'/Controller'</span>],              1, <span class="org-string">'openinput'</span>);  io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Actuator Force Inputs [N]</span>
+io(io_i) = linio([mdl, <span class="org-string">'/Relative Motion Sensor'</span>],  1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Position/Orientation of {B} w.r.t. {A}</span>

-%% Run the linearization
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
 G = linearize(mdl, io, options);
-G.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
-G.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
+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>};

-Gc = minreal(G*inv(stewart.kinematics.J'));
-Gc.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
+Gc = minreal(G<span class="org-type">*</span>inv(stewart.kinematics.J<span class="org-type">'</span>));
+Gc.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>};

-%% Input/Output definition
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
 clear io; io_i = 1;
-io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'F_ext');  io_i = io_i + 1; % External forces/torques applied on {B}
-io(io_i) = linio([mdl, '/Relative Motion Sensor'],  1, 'openoutput'); io_i = io_i + 1; % Position/Orientation of {B} w.r.t. {A}
+io(io_i) = linio([mdl, <span class="org-string">'/Disturbances'</span>], 1, <span class="org-string">'openinput'</span>, [], <span class="org-string">'F_ext'</span>);  io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% External forces/torques applied on {B}</span>
+io(io_i) = linio([mdl, <span class="org-string">'/Relative Motion Sensor'</span>],  1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Position/Orientation of {B} w.r.t. {A}</span>

-%% Run the linearization
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
 Gd = linearize(mdl, io, options);
-Gd.InputName  = {'Fex', 'Fey', 'Fez', 'Mex', 'Mey', 'Mez'};
-Gd.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
+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>
-The comparison between the obtained transfer functions is shown in Figure <a href="#orga2f2bd5">3</a>.
+The comparison between the obtained transfer functions is shown in Figure <a href="#org593368e">3</a>.
 </p>


-<div id="orga2f2bd5" class="figure">
+<div id="org593368e" class="figure">
 <p><img src="figs/comparison_Fext_F_flexible_base.png" alt="comparison_Fext_F_flexible_base.png" />
 </p>
 <p><span class="figure-number">Figure 3: </span>Comparison of the transfer functions from \(\bm{\mathcal{F}}\) to \(\mathcal{\bm{X}}\) and from \(\bm{\mathcal{F}}_{\text{ext}}\) to \(\mathcal{\bm{X}}\) (<a href="./figs/comparison_Fext_F_flexible_base.png">png</a>, <a href="./figs/comparison_Fext_F_flexible_base.pdf">pdf</a>)</p>
 </div>

 <p>
-The addition of a flexible support can be schematically represented in Figure <a href="#orgee3ecbe">4</a>.
+The addition of a flexible support can be schematically represented in Figure <a href="#orga537ded">4</a>.
 We see that \(\mathcal{F}_{x}\) applies a force both on \(m\) and \(m^{\prime}\) whereas \(\mathcal{F}_{x,\text{ext}}\) only applies a force on \(m\).
 And thus \(\mathcal{F}_{x}\) and \(\mathcal{F}_{x,\text{ext}}\) have clearly <b>not</b> the same effect on \(\mathcal{X}_{x}\).
 </p>


-<div id="orgee3ecbe" class="figure">
+<div id="orga537ded" class="figure">
 <p><img src="figs/2dof_actuator_external_forces.png" alt="2dof_actuator_external_forces.png" />
 </p>
 <p><span class="figure-number">Figure 4: </span>Schematic representation of the stewart platform on top of a flexible support</p>
@@ -230,10 +235,10 @@ And thus \(\mathcal{F}_{x}\) and \(\mathcal{F}_{x,\text{ext}}\) have clearly <b>
 </div>


-<div id="outline-container-org55e0dad" class="outline-3">
-<h3 id="org55e0dad"><span class="section-number-3">1.3</span> Conclusion</h3>
+<div id="outline-container-orga9eb2fd" class="outline-3">
+<h3 id="orga9eb2fd"><span class="section-number-3">1.3</span> Conclusion</h3>
 <div class="outline-text-3" id="text-1-3">
-<div class="important">
+<div class="important" id="org4878fef">
 <p>
 The transfer function from forces/torques applied by the actuators on the payload \(\bm{\mathcal{F}} = \bm{J}^T \bm{\tau}\) to the pose of the mobile platform \(\bm{\mathcal{X}}\) is the same as the transfer function from external forces/torques to \(\bm{\mathcal{X}}\) as long as the Stewart platform&rsquo;s base is fixed.
 </p>
@@ -243,32 +248,32 @@ The transfer function from forces/torques applied by the actuators on the payloa
 </div>
 </div>

-<div id="outline-container-org81ab204" class="outline-2">
-<h2 id="org81ab204"><span class="section-number-2">2</span> Comparison of the static transfer function and the Compliance matrix</h2>
+<div id="outline-container-orgb6a1ef7" class="outline-2">
+<h2 id="orgb6a1ef7"><span class="section-number-2">2</span> Comparison of the static transfer function and the Compliance matrix</h2>
 <div class="outline-text-2" id="text-2">
 <p>
 In this section, we see how the Compliance matrix of the Stewart platform is linked to the static relation between \(\mathcal{\bm{F}}\) to \(\mathcal{\bm{X}}\).
 </p>
 </div>

-<div id="outline-container-orge7e7242" class="outline-3">
-<h3 id="orge7e7242"><span class="section-number-3">2.1</span> Analysis</h3>
+<div id="outline-container-org3f1c253" class="outline-3">
+<h3 id="org3f1c253"><span class="section-number-3">2.1</span> Analysis</h3>
 <div class="outline-text-3" id="text-2-1">
 <p>
 Initialization of the Stewart platform.
 </p>
 <div class="org-src-container">
 <pre class="src src-matlab">stewart = initializeStewartPlatform();
-stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
+stewart = initializeFramesPositions(stewart, <span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 45e<span class="org-type">-</span>3);
 stewart = generateGeneralConfiguration(stewart);
 stewart = computeJointsPose(stewart);
 stewart = initializeStrutDynamics(stewart);
-stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
+stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal_p'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical_p'</span>);
 stewart = initializeCylindricalPlatforms(stewart);
 stewart = initializeCylindricalStruts(stewart);
 stewart = computeJacobian(stewart);
 stewart = initializeStewartPose(stewart);
-stewart = initializeInertialSensor(stewart, 'type', 'none');
+stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
 </pre>
 </div>

@@ -276,9 +281,9 @@ stewart = initializeInertialSensor(stewart, 'type', 'none');
 No flexibility below the Stewart platform and no payload.
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">ground = initializeGround('type', 'none');
-payload = initializePayload('type', 'none');
-controller = initializeController('type', 'open-loop');
+<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
 </pre>
 </div>

@@ -286,28 +291,28 @@ controller = initializeController('type', 'open-loop');
 Estimation of the transfer function from \(\mathcal{\bm{F}}\) to \(\mathcal{\bm{X}}\):
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">%% Options for Linearized
+<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
 options = linearizeOptions;
 options.SampleTime = 0;

-%% Name of the Simulink File
-mdl = 'stewart_platform_model';
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
+mdl = <span class="org-string">'stewart_platform_model'</span>;

-%% Input/Output definition
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
 clear io; io_i = 1;
-io(io_i) = linio([mdl, '/Controller'],              1, 'openinput');  io_i = io_i + 1; % Actuator Force Inputs [N]
-io(io_i) = linio([mdl, '/Relative Motion Sensor'],  1, 'openoutput'); io_i = io_i + 1; % Position/Orientation of {B} w.r.t. {A}
+io(io_i) = linio([mdl, <span class="org-string">'/Controller'</span>],              1, <span class="org-string">'openinput'</span>);  io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Actuator Force Inputs [N]</span>
+io(io_i) = linio([mdl, <span class="org-string">'/Relative Motion Sensor'</span>],  1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Position/Orientation of {B} w.r.t. {A}</span>

-%% Run the linearization
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
 G = linearize(mdl, io, options);
-G.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
-G.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
+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">Gc = minreal(G*inv(stewart.kinematics.J'));
-Gc.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
+<pre class="src src-matlab">Gc = minreal(G<span class="org-type">*</span>inv(stewart.kinematics.J<span class="org-type">'</span>));
+Gc.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>

@@ -465,10 +470,10 @@ And now at the Compliance matrix.
 </div>
 </div>

-<div id="outline-container-org9ee3939" class="outline-3">
-<h3 id="org9ee3939"><span class="section-number-3">2.2</span> Conclusion</h3>
+<div id="outline-container-orge261263" class="outline-3">
+<h3 id="orge261263"><span class="section-number-3">2.2</span> Conclusion</h3>
 <div class="outline-text-3" id="text-2-2">
-<div class="important">
+<div class="important" id="org2428297">
 <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>
@@ -480,7 +485,7 @@ The low frequency transfer function matrix from \(\mathcal{\bm{F}}\) to \(\mathc
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-08-05 mer. 13:27</p>
+<p class="date">Created: 2021-01-08 ven. 15:52</p>
 </div>
 </body>
 </html>
--- a/docs/figs/afzali_parametrization_hexapod.png
+++ b/docs/figs/afzali_parametrization_hexapod.png
--- a/docs/figs/afzali_stewart_platform_characteristics.png
+++ b/docs/figs/afzali_stewart_platform_characteristics.png
--- a/docs/figs/afzali_top_view.png
+++ b/docs/figs/afzali_top_view.png
--- a/docs/figs/comp_relative_motion_sensor_act_leg.pdf
+++ b/docs/figs/comp_relative_motion_sensor_act_leg.pdf
--- a/docs/figs/comp_relative_motion_sensor_act_leg.png
+++ b/docs/figs/comp_relative_motion_sensor_act_leg.png
--- a/docs/figs/comp_relative_motion_sensor_act_leg_encoder.pdf
+++ b/docs/figs/comp_relative_motion_sensor_act_leg_encoder.pdf
--- a/docs/figs/comp_relative_motion_sensor_act_leg_encoder.png
+++ b/docs/figs/comp_relative_motion_sensor_act_leg_encoder.png
--- a/docs/figs/introduction_stewart_mov_pos.pdf
+++ b/docs/figs/introduction_stewart_mov_pos.pdf
--- a/docs/figs/introduction_stewart_mov_pos.png
+++ b/docs/figs/introduction_stewart_mov_pos.png
--- a/docs/figs/introduction_stewart_rest_pos.pdf
+++ b/docs/figs/introduction_stewart_rest_pos.pdf
--- a/docs/figs/introduction_stewart_rest_pos.png
+++ b/docs/figs/introduction_stewart_rest_pos.png
--- a/docs/figs/stewart_examples/stewart_beijen.jpg
+++ b/docs/figs/stewart_examples/stewart_beijen.jpg
--- a/docs/figs/stewart_examples/stewart_cleary.jpg
+++ b/docs/figs/stewart_examples/stewart_cleary.jpg
--- a/docs/figs/stewart_examples/stewart_czech.jpg
+++ b/docs/figs/stewart_examples/stewart_czech.jpg
--- a/docs/figs/stewart_examples/stewart_dong07.jpg
+++ b/docs/figs/stewart_examples/stewart_dong07.jpg
--- a/docs/figs/stewart_examples/stewart_du14.jpg
+++ b/docs/figs/stewart_examples/stewart_du14.jpg
--- a/docs/figs/stewart_examples/stewart_furutani.jpg
+++ b/docs/figs/stewart_examples/stewart_furutani.jpg
--- a/docs/figs/stewart_examples/stewart_geng.jpg
+++ b/docs/figs/stewart_examples/stewart_geng.jpg
--- a/docs/figs/stewart_examples/stewart_ht_uw.jpg
+++ b/docs/figs/stewart_examples/stewart_ht_uw.jpg
--- a/docs/figs/stewart_examples/stewart_iran.jpg
+++ b/docs/figs/stewart_examples/stewart_iran.jpg
--- a/docs/figs/stewart_examples/stewart_jpl.jpg
+++ b/docs/figs/stewart_examples/stewart_jpl.jpg
--- a/docs/figs/stewart_examples/stewart_kim00.jpg
+++ b/docs/figs/stewart_examples/stewart_kim00.jpg
--- a/docs/figs/stewart_examples/stewart_mais.jpg
+++ b/docs/figs/stewart_examples/stewart_mais.jpg
--- a/docs/figs/stewart_examples/stewart_nanoscale.jpg
+++ b/docs/figs/stewart_examples/stewart_nanoscale.jpg
--- a/docs/figs/stewart_examples/stewart_naval.jpg
+++ b/docs/figs/stewart_examples/stewart_naval.jpg
--- a/docs/figs/stewart_examples/stewart_naves.jpg
+++ b/docs/figs/stewart_examples/stewart_naves.jpg
--- a/docs/figs/stewart_examples/stewart_pph.jpg
+++ b/docs/figs/stewart_examples/stewart_pph.jpg
--- a/docs/figs/stewart_examples/stewart_satra.jpg
+++ b/docs/figs/stewart_examples/stewart_satra.jpg
--- a/docs/figs/stewart_examples/stewart_su04.jpg
+++ b/docs/figs/stewart_examples/stewart_su04.jpg
--- a/docs/figs/stewart_examples/stewart_tang18.jpg
+++ b/docs/figs/stewart_examples/stewart_tang18.jpg
--- a/docs/figs/stewart_examples/stewart_ting07.jpg
+++ b/docs/figs/stewart_examples/stewart_ting07.jpg
--- a/docs/figs/stewart_examples/stewart_torii.jpg
+++ b/docs/figs/stewart_examples/stewart_torii.jpg
--- a/docs/figs/stewart_examples/stewart_ulb_pz.jpg
+++ b/docs/figs/stewart_examples/stewart_ulb_pz.jpg
--- a/docs/figs/stewart_examples/stewart_ulb_vc.jpg
+++ b/docs/figs/stewart_examples/stewart_ulb_vc.jpg
--- a/docs/figs/stewart_examples/stewart_uqp.jpg
+++ b/docs/figs/stewart_examples/stewart_uqp.jpg
--- a/docs/figs/stewart_examples/stewart_uw_gsp.jpg
+++ b/docs/figs/stewart_examples/stewart_uw_gsp.jpg
--- a/docs/figs/stewart_examples/stewart_wang16.jpg
+++ b/docs/figs/stewart_examples/stewart_wang16.jpg
--- a/docs/figs/stewart_examples/stewart_yang19.jpg
+++ b/docs/figs/stewart_examples/stewart_yang19.jpg
--- a/docs/figs/stewart_examples/stewart_zhang11.jpg
+++ b/docs/figs/stewart_examples/stewart_zhang11.jpg
--- a/docs/flexible-stewart-platform.html
+++ b/docs/flexible-stewart-platform.html
--- a/docs/identification.html
+++ b/docs/identification.html
--- a/docs/index.html
+++ b/docs/index.html
@@ -3,51 +3,45 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2020-08-05 mer. 13:27 -->
+<!-- 2021-01-08 ven. 15:30 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <title>Stewart Platforms</title>
 <meta name="generator" content="Org mode" />
 <meta name="author" content="Dehaeze Thomas" />
-<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-<script src="./js/jquery.min.js"></script>
-<script src="./js/bootstrap.min.js"></script>
-<script src="./js/jquery.stickytableheaders.min.js"></script>
-<script src="./js/readtheorg.js"></script>
+<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
 </head>
 <body>
 <div id="org-div-home-and-up">
- <a accesskey="h" href="index.html"> UP </a>
+ <a accesskey="h" href="https://research.tdehaeze.xyz/"> UP </a>
 |
- <a accesskey="H" href="index.html"> HOME </a>
+ <a accesskey="H" href="https://research.tdehaeze.xyz/"> HOME </a>
 </div><div id="content">
 <h1 class="title">Stewart Platforms</h1>
 <div id="table-of-contents">
 <h2>Table of Contents</h2>
 <div id="text-table-of-contents">
 <ul>
-<li><a href="#orgff0bfd7">1. Simulink Project (link)</a></li>
-<li><a href="#org38b9089">2. Stewart Platform Architecture Definition (link)</a></li>
-<li><a href="#orgf1c7b3b">3. Simscape Model of the Stewart Platform (link)</a></li>
-<li><a href="#org369c8bb">4. Kinematic Analysis (link)</a></li>
-<li><a href="#org2e3169e">5. Identification of the Stewart Dynamics (link)</a></li>
-<li><a href="#org0fdb910">6. Control</a></li>
-<li><a href="#org1f468b1">7. Cubic Configuration (link)</a></li>
-<li><a href="#orga2bd0e9">8. Bibliography (link)</a></li>
+<li><a href="#orgad01eeb">1. Simulink Project (link)</a></li>
+<li><a href="#orgf0936f9">2. Stewart Platform Architecture Definition (link)</a></li>
+<li><a href="#org4bef8ba">3. Simscape Model of the Stewart Platform (link)</a></li>
+<li><a href="#orgfd134cc">4. Kinematic Analysis (link)</a></li>
+<li><a href="#org2e5eede">5. Identification of the Stewart Dynamics (link)</a></li>
+<li><a href="#orgb272d52">6. Control</a></li>
+<li><a href="#org7c7008e">7. Cubic Configuration (link)</a></li>
+<li><a href="#org1f2f2c6">8. Bibliography (link)</a></li>
 </ul>
 </div>
 </div>

 <p>
 The goal of this project is to provide a Matlab/Simscape Toolbox to study Stewart platforms.
-</p>
-
-<p>
 The project is divided into several section listed below.
+The git repository of the project is accessible <a href="https://git.tdehaeze.xyz/tdehaeze/stewart-simscape">here</a>.
 </p>

-<div id="outline-container-orgff0bfd7" class="outline-2">
-<h2 id="orgff0bfd7"><span class="section-number-2">1</span> Simulink Project (<a href="simulink-project.html">link</a>)</h2>
+<div id="outline-container-orgad01eeb" class="outline-2">
+<h2 id="orgad01eeb"><span class="section-number-2">1</span> Simulink Project (<a href="simulink-project.html">link</a>)</h2>
 <div class="outline-text-2" id="text-1">
 <p>
 The project is managed with a <b>Simulink Project</b>.
@@ -56,8 +50,8 @@ Such project is briefly presented <a href="simulink-project.html">here</a>.
 </div>
 </div>

-<div id="outline-container-org38b9089" class="outline-2">
-<h2 id="org38b9089"><span class="section-number-2">2</span> Stewart Platform Architecture Definition (<a href="stewart-architecture.html">link</a>)</h2>
+<div id="outline-container-orgf0936f9" class="outline-2">
+<h2 id="orgf0936f9"><span class="section-number-2">2</span> Stewart Platform Architecture Definition (<a href="stewart-architecture.html">link</a>)</h2>
 <div class="outline-text-2" id="text-2">
 <p>
 The way the Stewart Platform is defined is explained <a href="stewart-architecture.html">here</a>.
@@ -82,8 +76,8 @@ Other parameters are also defined such as:
 </div>
 </div>

-<div id="outline-container-orgf1c7b3b" class="outline-2">
-<h2 id="orgf1c7b3b"><span class="section-number-2">3</span> Simscape Model of the Stewart Platform (<a href="simscape-model.html">link</a>)</h2>
+<div id="outline-container-org4bef8ba" class="outline-2">
+<h2 id="org4bef8ba"><span class="section-number-2">3</span> Simscape Model of the Stewart Platform (<a href="simscape-model.html">link</a>)</h2>
 <div class="outline-text-2" id="text-3">
 <p>
 The Stewart Platform is then modeled using <a href="https://www.mathworks.com/products/simscape.html">Simscape</a>.
@@ -95,8 +89,8 @@ The way to model is build and works is explained <a href="simscape-model.html">h
 </div>
 </div>

-<div id="outline-container-org369c8bb" class="outline-2">
-<h2 id="org369c8bb"><span class="section-number-2">4</span> Kinematic Analysis (<a href="kinematic-study.html">link</a>)</h2>
+<div id="outline-container-orgfd134cc" class="outline-2">
+<h2 id="orgfd134cc"><span class="section-number-2">4</span> Kinematic Analysis (<a href="kinematic-study.html">link</a>)</h2>
 <div class="outline-text-2" id="text-4">
 <p>
 From the defined geometry of the Stewart platform, we can perform static analysis such as:
@@ -116,8 +110,8 @@ All these analysis are described <a href="kinematic-study.html">here</a>.
 </div>
 </div>

-<div id="outline-container-org2e3169e" class="outline-2">
-<h2 id="org2e3169e"><span class="section-number-2">5</span> Identification of the Stewart Dynamics (<a href="identification.html">link</a>)</h2>
+<div id="outline-container-org2e5eede" class="outline-2">
+<h2 id="org2e5eede"><span class="section-number-2">5</span> Identification of the Stewart Dynamics (<a href="identification.html">link</a>)</h2>
 <div class="outline-text-2" id="text-5">
 <p>
 The Dynamics of the Stewart platform can be identified using the Simscape model.
@@ -138,8 +132,8 @@ The code that is used for identification is explained <a href="identification.ht
 </div>
 </div>

-<div id="outline-container-org0fdb910" class="outline-2">
-<h2 id="org0fdb910"><span class="section-number-2">6</span> Control</h2>
+<div id="outline-container-orgb272d52" class="outline-2">
+<h2 id="orgb272d52"><span class="section-number-2">6</span> Control</h2>
 <div class="outline-text-2" id="text-6">
 <p>
 The use of active control for Stewart platforms is a wide subject.
@@ -182,8 +176,8 @@ Different control architectures (centralized and decentralized) are compared for
 </div>
 </div>

-<div id="outline-container-org1f468b1" class="outline-2">
-<h2 id="org1f468b1"><span class="section-number-2">7</span> Cubic Configuration (<a href="cubic-configuration.html">link</a>)</h2>
+<div id="outline-container-org7c7008e" class="outline-2">
+<h2 id="org7c7008e"><span class="section-number-2">7</span> Cubic Configuration (<a href="cubic-configuration.html">link</a>)</h2>
 <div class="outline-text-2" id="text-7">
 <p>
 The cubic configuration is a special class of Stewart platform that has interesting properties.
@@ -195,8 +189,8 @@ These properties are studied in <a href="cubic-configuration.html">this</a> docu
 </div>
 </div>

-<div id="outline-container-orga2bd0e9" class="outline-2">
-<h2 id="orga2bd0e9"><span class="section-number-2">8</span> Bibliography (<a href="bibliography.html">link</a>)</h2>
+<div id="outline-container-org1f2f2c6" class="outline-2">
+<h2 id="org1f2f2c6"><span class="section-number-2">8</span> Bibliography (<a href="bibliography.html">link</a>)</h2>
 <div class="outline-text-2" id="text-8">
 <p>
 Many text books, PhD thesis and articles related to parallel robots and Stewart platforms are gathered in <a href="bibliography.html">this</a> document.
@@ -206,7 +200,7 @@ Many text books, PhD thesis and articles related to parallel robots and Stewart
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-08-05 mer. 13:27</p>
+<p class="date">Created: 2021-01-08 ven. 15:30</p>
 </div>
 </body>
 </html>
--- a/docs/js/bootstrap.min.js
+++ b/docs/js/bootstrap.min.js
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+++ b/docs/js/jquery.min.js
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-    $("table.docutils:not(.field-list)").wrap("<div class='wy-table-responsive'></div>");
-});
-
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-    $('#text-table-of-contents ul').first().addClass('nav');
-                                        // ScrollSpy also requires that we use
-                                        // a Bootstrap nav component.
-    $('body').scrollspy({target: '#text-table-of-contents'});
-
-    // add sticky table headers
-    $('table').stickyTableHeaders();
-
-    // set the height of tableOfContents
-    var $postamble = $('#postamble');
-    var $tableOfContents = $('#table-of-contents');
-    $tableOfContents.css({paddingBottom: $postamble.outerHeight()});
-
-    // add TOC button
-    var toggleSidebar = $('<div id="toggle-sidebar"><a href="#table-of-contents"><h2>Table of Contents</h2></a></div>');
-    $('#content').prepend(toggleSidebar);
-
-    // add close button when sidebar showed in mobile screen
-    var closeBtn = $('<a class="close-sidebar" href="#">Close</a>');
-    var tocTitle = $('#table-of-contents').find('h2');
-    tocTitle.append(closeBtn);
-});
-
-window.SphinxRtdTheme = (function (jquery) {
-    var stickyNav = (function () {
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--- a/docs/kinematic-study.html
+++ b/docs/kinematic-study.html
--- a/docs/nass.html
+++ b/docs/nass.html
@@ -0,0 +1,83 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
+"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
+<head>
+<!-- 2021-01-08 ven. 15:53 -->
+<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
+<title>Stewart Platform - NASS</title>
+<meta name="generator" content="Org mode" />
+<meta name="author" content="Dehaeze Thomas" />
+<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
+</head>
+<body>
+<div id="org-div-home-and-up">
+ <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 - NASS</h1>
+<div id="table-of-contents">
+<h2>Table of Contents</h2>
+<div id="text-table-of-contents">
+<ul>
+<li><a href="#org07676ec">1. NASS</a>
+<ul>
+<li><a href="#org0167386">1.1. Identification of the Dynamics</a></li>
+</ul>
+</li>
+</ul>
+</div>
+</div>
+
+<div id="outline-container-org07676ec" class="outline-2">
+<h2 id="org07676ec"><span class="section-number-2">1</span> NASS</h2>
+<div class="outline-text-2" id="text-1">
+</div>
+<div id="outline-container-org0167386" class="outline-3">
+<h3 id="org0167386"><span class="section-number-3">1.1</span> Identification of the Dynamics</h3>
+<div class="outline-text-3" id="text-1-1">
+<div class="org-src-container">
+<pre class="src src-matlab">apa = load(<span class="org-string">'./mat/APA300ML.mat'</span>, <span class="org-string">'int_xyz'</span>, <span class="org-string">'int_i'</span>, <span class="org-string">'n_xyz'</span>, <span class="org-string">'n_i'</span>, <span class="org-string">'nodes'</span>, <span class="org-string">'M'</span>, <span class="org-string">'K'</span>);
+flex_joint = load(<span class="org-string">'./mat/flexor_ID16.mat'</span>, <span class="org-string">'int_xyz'</span>, <span class="org-string">'int_i'</span>, <span class="org-string">'n_xyz'</span>, <span class="org-string">'n_i'</span>, <span class="org-string">'nodes'</span>, <span class="org-string">'M'</span>, <span class="org-string">'K'</span>);
+</pre>
+</div>
+
+<div class="org-src-container">
+<pre class="src src-matlab">stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, <span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 175e<span class="org-type">-</span>3);
+stewart = generateGeneralConfiguration(stewart, <span class="org-string">'FH'</span>, 20e<span class="org-type">-</span>3, <span class="org-string">'MH'</span>, 20e<span class="org-type">-</span>3, <span class="org-string">'FR'</span>, 228e<span class="org-type">-</span>3<span class="org-type">/</span>2, <span class="org-string">'MR'</span>, 220e<span class="org-type">-</span>3<span class="org-type">/</span>2, <span class="org-string">'FTh'</span>, [<span class="org-type">-</span>9, 9, 120<span class="org-type">-</span>9, 120<span class="org-type">+</span>9, 240<span class="org-type">-</span>9, 240<span class="org-type">+</span>9]<span class="org-type">*</span>(<span class="org-constant">pi</span><span class="org-type">/</span>180), <span class="org-string">'MTh'</span>, [<span class="org-type">-</span>60<span class="org-type">+</span>15, 60<span class="org-type">-</span>15, 60<span class="org-type">+</span>15, 180<span class="org-type">-</span>15, 180<span class="org-type">+</span>15, <span class="org-type">-</span>60<span class="org-type">-</span>15]<span class="org-type">*</span>(<span class="org-constant">pi</span><span class="org-type">/</span>180));
+stewart = computeJointsPose(stewart);
+stewart = initializeFlexibleStrutDynamics(stewart, <span class="org-string">'H'</span>, 0.03, <span class="org-string">'K'</span>, apa.K, <span class="org-string">'M'</span>, apa.M, <span class="org-string">'n_xyz'</span>, apa.n_xyz, <span class="org-string">'xi'</span>, 0.1, <span class="org-string">'step_file'</span>, <span class="org-string">'mat/APA300ML.STEP'</span>);
+stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'K_F'</span>, flex_joint.K, <span class="org-string">'M_F'</span>, flex_joint.M, <span class="org-string">'n_xyz_F'</span>, flex_joint.n_xyz, <span class="org-string">'xi_F'</span>, 0.1, <span class="org-string">'step_file_F'</span>, <span class="org-string">'mat/flexor_ID16.STEP'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'K_M'</span>, flex_joint.K, <span class="org-string">'M_M'</span>, flex_joint.M, <span class="org-string">'n_xyz_M'</span>, flex_joint.n_xyz, <span class="org-string">'xi_M'</span>, 0.1, <span class="org-string">'step_file_M'</span>, <span class="org-string">'mat/flexor_ID16.STEP'</span>);
+stewart = initializeCylindricalPlatforms(stewart, <span class="org-string">'Fpr'</span>, 150e<span class="org-type">-</span>3, <span class="org-string">'Mpr'</span>, 125e<span class="org-type">-</span>3);
+stewart = initializeCylindricalStruts(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'none'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'none'</span>);
+stewart = computeJacobian(stewart);
+stewart = initializeStewartPose(stewart);
+stewart = initializeInertialSensor(stewart);
+</pre>
+</div>
+
+<div class="org-src-container">
+<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'m'</span>, 50);
+controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
+</pre>
+</div>
+
+<div class="org-src-container">
+<pre class="src src-matlab">disturbances = initializeDisturbances();
+references = initializeReferences(stewart);
+</pre>
+</div>
+</div>
+</div>
+</div>
+</div>
+<div id="postamble" class="status">
+<p class="author">Author: Dehaeze Thomas</p>
+<p class="date">Created: 2021-01-08 ven. 15:53</p>
+</div>
+</body>
+</html>
--- a/docs/simscape-model.html
+++ b/docs/simscape-model.html
@@ -3,25 +3,30 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2020-08-05 mer. 13:27 -->
+<!-- 2021-01-08 ven. 15:52 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <title>Stewart Platform - Simscape Model</title>
 <meta name="generator" content="Org mode" />
 <meta name="author" content="Dehaeze Thomas" />
-<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-<script src="./js/jquery.min.js"></script>
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-<script src="./js/jquery.stickytableheaders.min.js"></script>
-<script src="./js/readtheorg.js"></script>
-<script>MathJax = {
+<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
+<script>
+           MathJax = {
+             svg: {
+               scale: 1,
+               fontCache: "global"
+             },
             tex: {
-            tags: 'ams',
-            macros: {bm: ["\\boldsymbol{#1}",1],}
+               tags: "ams",
+               multlineWidth: "%MULTLINEWIDTH",
+               tagSide: "right",
+                       macros: {bm: ["\\boldsymbol{#1}",1],},
+               tagIndent: ".8em"
             }
           };
           </script>
-          <script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
+           <script id="MathJax-script" async
+             src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-svg.js"></script>
 </head>
 <body>
 <div id="org-div-home-and-up">
@@ -34,47 +39,47 @@
 <h2>Table of Contents</h2>
 <div id="text-table-of-contents">
 <ul>
-<li><a href="#orgc6e0b93">1. Parameters used for the Simscape Model</a></li>
-<li><a href="#org66977e8">2. Simulation Configuration - Configuration reference</a></li>
-<li><a href="#orgb2362eb">3. Subsystem Reference</a></li>
-<li><a href="#orgdfad86d">4. Subsystem - Fixed base and Mobile Platform</a></li>
-<li><a href="#org9d4af75">5. Subsystem - Struts</a></li>
-<li><a href="#org7e2c432">6. Other Elements</a>
+<li><a href="#org79eeba1">1. Parameters used for the Simscape Model</a></li>
+<li><a href="#org677dd01">2. Simulation Configuration - Configuration reference</a></li>
+<li><a href="#orge89e3e7">3. Subsystem Reference</a></li>
+<li><a href="#org5f42d80">4. Subsystem - Fixed base and Mobile Platform</a></li>
+<li><a href="#orgbec2976">5. Subsystem - Struts</a></li>
+<li><a href="#org806ecc3">6. Other Elements</a>
 <ul>
-<li><a href="#org3535b6d">6.1. Payload</a>
+<li><a href="#orgf4bef70">6.1. Payload</a>
 <ul>
-<li><a href="#orgd38089d">Function description</a></li>
-<li><a href="#org5518a84">Optional Parameters</a></li>
-<li><a href="#orgeeb8d35">Add Payload Type</a></li>
-<li><a href="#org6d52ffc">Add Stiffness, Damping and Mass properties of the Payload</a></li>
+<li><a href="#org920bdd0">Function description</a></li>
+<li><a href="#orgbc7950f">Optional Parameters</a></li>
+<li><a href="#org4ef4a9f">Add Payload Type</a></li>
+<li><a href="#org3243d76">Add Stiffness, Damping and Mass properties of the Payload</a></li>
 </ul>
 </li>
-<li><a href="#orgaaed406">6.2. Ground</a>
+<li><a href="#orgd9e12ef">6.2. Ground</a>
 <ul>
-<li><a href="#org7732939">Function description</a></li>
-<li><a href="#org480f36e">Optional Parameters</a></li>
-<li><a href="#orgef7035d">Add Ground Type</a></li>
-<li><a href="#org95633e8">Add Stiffness and Damping properties of the Ground</a></li>
-<li><a href="#org14ff2fc">Rotation Point</a></li>
+<li><a href="#orgc300ecf">Function description</a></li>
+<li><a href="#org1ee272a">Optional Parameters</a></li>
+<li><a href="#org2d22970">Add Ground Type</a></li>
+<li><a href="#orgf76def4">Add Stiffness and Damping properties of the Ground</a></li>
+<li><a href="#orgdb67a68">Rotation Point</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li><a href="#orgae6907a">7. Initialize Disturbances</a>
+<li><a href="#org6d3b61e">7. Initialize Disturbances</a>
 <ul>
-<li><a href="#orge2fa859">Function Declaration and Documentation</a></li>
-<li><a href="#org6adb628">Optional Parameters</a></li>
-<li><a href="#org30dc07c">Structure initialization</a></li>
-<li><a href="#org0755155">Ground Motion</a></li>
-<li><a href="#org7617a55">Direct Forces</a></li>
+<li><a href="#orgf124972">Function Declaration and Documentation</a></li>
+<li><a href="#org668f4bb">Optional Parameters</a></li>
+<li><a href="#org0f7e4dd">Structure initialization</a></li>
+<li><a href="#org1a28fcd">Ground Motion</a></li>
+<li><a href="#org90b72d6">Direct Forces</a></li>
 </ul>
 </li>
-<li><a href="#orgd45a07f">8. Initialize References</a>
+<li><a href="#org93f2d30">8. Initialize References</a>
 <ul>
-<li><a href="#orge5deaa1">Function Declaration and Documentation</a></li>
-<li><a href="#orgeebb364">Optional Parameters</a></li>
-<li><a href="#orgc274320">8.1. Compute the corresponding strut length</a></li>
-<li><a href="#org36ac3fa">References</a></li>
+<li><a href="#org81500bb">Function Declaration and Documentation</a></li>
+<li><a href="#org05322ee">Optional Parameters</a></li>
+<li><a href="#org6f05adc">8.1. Compute the corresponding strut length</a></li>
+<li><a href="#orgda73a50">References</a></li>
 </ul>
 </li>
 </ul>
@@ -89,18 +94,18 @@ In this document is explained how the Simscape model of the Stewart Platform is
 It is divided in the following sections:
 </p>
 <ul class="org-ul">
-<li>section <a href="#org8d965c3">1</a>: is explained how the parameters of the Stewart platform are set for the Simscape model</li>
-<li>section <a href="#org354bfdb">2</a>: the Simulink configuration (solver, simulation time, &#x2026;) is shared among all the Simulink files. It is explain how this is done.</li>
-<li>section <a href="#org66bbae2">3</a>: All the elements (platforms, struts, sensors, &#x2026;) are saved in separate files and imported in Simulink files using &ldquo;subsystem referenced&rdquo;.</li>
-<li>section <a href="#orga4915c4">4</a>: The simscape model for the fixed base and mobile platform are described in this section.</li>
-<li>section <a href="#orgdb5206f">5</a>: The simscape model for the Stewart platform struts is described in this section.</li>
+<li>section <a href="#orge8daba9">1</a>: is explained how the parameters of the Stewart platform are set for the Simscape model</li>
+<li>section <a href="#org11ed7ef">2</a>: the Simulink configuration (solver, simulation time, &#x2026;) is shared among all the Simulink files. It is explain how this is done.</li>
+<li>section <a href="#org1a0307c">3</a>: All the elements (platforms, struts, sensors, &#x2026;) are saved in separate files and imported in Simulink files using &ldquo;subsystem referenced&rdquo;.</li>
+<li>section <a href="#org5fac181">4</a>: The simscape model for the fixed base and mobile platform are described in this section.</li>
+<li>section <a href="#org793a5c7">5</a>: The simscape model for the Stewart platform struts is described in this section.</li>
 </ul>

-<div id="outline-container-orgc6e0b93" class="outline-2">
-<h2 id="orgc6e0b93"><span class="section-number-2">1</span> Parameters used for the Simscape Model</h2>
+<div id="outline-container-org79eeba1" class="outline-2">
+<h2 id="org79eeba1"><span class="section-number-2">1</span> Parameters used for the Simscape Model</h2>
 <div class="outline-text-2" id="text-1">
 <p>
-<a id="org8d965c3"></a>
+<a id="orge8daba9"></a>
 The Simscape Model of the Stewart Platform is working with the <code>stewart</code> structure generated using the functions described <a href="stewart-architecture.html">here</a>.
 </p>

@@ -122,11 +127,11 @@ The main advantage to have all the parameters defined in one structure (and not
 </div>
 </div>

-<div id="outline-container-org66977e8" class="outline-2">
-<h2 id="org66977e8"><span class="section-number-2">2</span> Simulation Configuration - Configuration reference</h2>
+<div id="outline-container-org677dd01" class="outline-2">
+<h2 id="org677dd01"><span class="section-number-2">2</span> Simulation Configuration - Configuration reference</h2>
 <div class="outline-text-2" id="text-2">
 <p>
-<a id="org354bfdb"></a>
+<a id="org11ed7ef"></a>
 As multiple simulink files will be used for simulation and tests, it is very useful to determine good simulation configuration that will be <b>shared</b> among all the simulink files.
 </p>

@@ -139,7 +144,7 @@ Basically, the configuration is stored in a mat file <code>conf_simscape.mat</co
 It is automatically loaded when the Simulink project is open. It can be loaded manually with the command:
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">load('mat/conf_simscape.mat');
+<pre class="src src-matlab">load(<span class="org-string">'mat/conf_simscape.mat'</span>);
 </pre>
 </div>

@@ -147,17 +152,17 @@ It is automatically loaded when the Simulink project is open. It can be loaded m
 It is however possible to modify specific parameters just for one simulation using the <code>set_param</code> command:
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">set_param(conf_simscape, 'StopTime', 1);
+<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simscape</span>, <span class="org-string">'StopTime'</span>, 1);
 </pre>
 </div>
 </div>
 </div>

-<div id="outline-container-orgb2362eb" class="outline-2">
-<h2 id="orgb2362eb"><span class="section-number-2">3</span> Subsystem Reference</h2>
+<div id="outline-container-orge89e3e7" class="outline-2">
+<h2 id="orge89e3e7"><span class="section-number-2">3</span> Subsystem Reference</h2>
 <div class="outline-text-2" id="text-3">
 <p>
-<a id="org66bbae2"></a>
+<a id="org1a0307c"></a>
 Several Stewart platform models are used, for instance one is use to study the dynamics while the other is used to apply active damping techniques.
 </p>

@@ -175,12 +180,12 @@ These shared subsystems are:
 </ul>

 <p>
-These subsystems are referenced from another subsystem called <code>Stewart_Platform.slx</code> shown in figure <a href="#orgf687c71">1</a>, that basically connect them correctly.
+These subsystems are referenced from another subsystem called <code>Stewart_Platform.slx</code> shown in figure <a href="#org18dcfb1">1</a>, that basically connect them correctly.
 This subsystem is then referenced in other simulink models for various purposes (control, analysis, simulation, &#x2026;).
 </p>


-<div id="orgf687c71" class="figure">
+<div id="org18dcfb1" class="figure">
 <p><img src="figs/simscape_stewart_platform.png" alt="simscape_stewart_platform.png" />
 </p>
 <p><span class="figure-number">Figure 1: </span>Simscape Subsystem of the Stewart platform. Encapsulate the Subsystems corresponding to the fixed base, mobile platform and all the struts.</p>
@@ -188,11 +193,11 @@ This subsystem is then referenced in other simulink models for various purposes
 </div>
 </div>

-<div id="outline-container-orgdfad86d" class="outline-2">
-<h2 id="orgdfad86d"><span class="section-number-2">4</span> Subsystem - Fixed base and Mobile Platform</h2>
+<div id="outline-container-org5f42d80" class="outline-2">
+<h2 id="org5f42d80"><span class="section-number-2">4</span> Subsystem - Fixed base and Mobile Platform</h2>
 <div class="outline-text-2" id="text-4">
 <p>
-<a id="orga4915c4"></a>
+<a id="org5fac181"></a>
 Both the fixed base and the mobile platform simscape models share many similarities.
 </p>

@@ -210,14 +215,14 @@ As always, the parameters that define the geometry are taken from the <code>stew
 </p>


-<div id="org858f0b4" class="figure">
+<div id="org7b43415" class="figure">
 <p><img src="figs/simscape_fixed_base.png" alt="simscape_fixed_base.png" width="1000px" />
 </p>
 <p><span class="figure-number">Figure 2: </span>Simscape Model of the Fixed base</p>
 </div>


-<div id="org4b31aa3" class="figure">
+<div id="org7ed0d98" class="figure">
 <p><img src="figs/simscape_mobile_platform.png" alt="simscape_mobile_platform.png" width="800px" />
 </p>
 <p><span class="figure-number">Figure 3: </span>Simscape Model of the Mobile platform</p>
@@ -225,13 +230,13 @@ As always, the parameters that define the geometry are taken from the <code>stew
 </div>
 </div>

-<div id="outline-container-org9d4af75" class="outline-2">
-<h2 id="org9d4af75"><span class="section-number-2">5</span> Subsystem - Struts</h2>
+<div id="outline-container-orgbec2976" class="outline-2">
+<h2 id="orgbec2976"><span class="section-number-2">5</span> Subsystem - Struts</h2>
 <div class="outline-text-2" id="text-5">
 <p>
-<a id="orgdb5206f"></a>
+<a id="org793a5c7"></a>
 For the Stewart platform, the 6 struts are identical.
-Thus, all the struts used in the Stewart platform are referring to the same subsystem called <code>stewart_strut.slx</code> and shown in Figure <a href="#org1dc8fce">4</a>.
+Thus, all the struts used in the Stewart platform are referring to the same subsystem called <code>stewart_strut.slx</code> and shown in Figure <a href="#org96a73eb">4</a>.
 </p>

 <p>
@@ -253,7 +258,7 @@ This is why the <b>UPS</b> configuration is used, but other configuration can be
 </p>


-<div id="org1dc8fce" class="figure">
+<div id="org96a73eb" class="figure">
 <p><img src="figs/simscape_strut.png" alt="simscape_strut.png" width="800px" />
 </p>
 <p><span class="figure-number">Figure 4: </span>Simscape model of the Stewart platform&rsquo;s strut</p>
@@ -282,15 +287,15 @@ Both inertial sensors are described bellow.
 </div>
 </div>

-<div id="outline-container-org7e2c432" class="outline-2">
-<h2 id="org7e2c432"><span class="section-number-2">6</span> Other Elements</h2>
+<div id="outline-container-org806ecc3" class="outline-2">
+<h2 id="org806ecc3"><span class="section-number-2">6</span> Other Elements</h2>
 <div class="outline-text-2" id="text-6">
 </div>
-<div id="outline-container-org3535b6d" class="outline-3">
-<h3 id="org3535b6d"><span class="section-number-3">6.1</span> Payload</h3>
+<div id="outline-container-orgf4bef70" class="outline-3">
+<h3 id="orgf4bef70"><span class="section-number-3">6.1</span> Payload</h3>
 <div class="outline-text-3" id="text-6-1">
 <p>
-<a id="org3a56808"></a>
+<a id="orgdd9802d"></a>
 </p>

 <p>
@@ -298,77 +303,77 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
 </p>
 </div>

-<div id="outline-container-orgd38089d" class="outline-4">
-<h4 id="orgd38089d">Function description</h4>
-<div class="outline-text-4" id="text-orgd38089d">
+<div id="outline-container-org920bdd0" class="outline-4">
+<h4 id="org920bdd0">Function description</h4>
+<div class="outline-text-4" id="text-org920bdd0">
 <div class="org-src-container">
-<pre class="src src-matlab">function [payload] = initializePayload(args)
-% initializePayload - Initialize the Payload that can then be used for simulations and analysis
-%
-% Syntax: [payload] = initializePayload(args)
-%
-% Inputs:
-%    - args - Structure with the following fields:
-%        - type - 'none', 'rigid', 'flexible', 'cartesian'
-%        - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]
-%                    This also the position where K and C are defined
-%        - K [6x1] - Stiffness of the Payload [N/m, N/rad]
-%        - C [6x1] - Damping of the Payload [N/(m/s), N/(rad/s)]
-%        - m [1x1] - Mass of the Payload [kg]
-%        - I [3x3] - Inertia matrix for the Payload [kg*m2]
-%
-% Outputs:
-%    - payload - Struture with the following properties:
-%        - type - 1 (none), 2 (rigid), 3 (flexible)
-%        - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]
-%        - K [6x1] - Stiffness of the Payload [N/m, N/rad]
-%        - C [6x1] - Stiffness of the Payload [N/(m/s), N/(rad/s)]
-%        - m [1x1] - Mass of the Payload [kg]
-%        - I [3x3] - Inertia matrix for the Payload [kg*m2]
+<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[payload]</span> = <span class="org-function-name">initializePayload</span>(<span class="org-variable-name">args</span>)
+<span class="org-comment">% initializePayload - Initialize the Payload that can then be used for simulations and analysis</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Syntax: [payload] = initializePayload(args)</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Inputs:</span>
+<span class="org-comment">%    - args - Structure with the following fields:</span>
+<span class="org-comment">%        - type - 'none', 'rigid', 'flexible', 'cartesian'</span>
+<span class="org-comment">%        - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]</span>
+<span class="org-comment">%                    This also the position where K and C are defined</span>
+<span class="org-comment">%        - K [6x1] - Stiffness of the Payload [N/m, N/rad]</span>
+<span class="org-comment">%        - C [6x1] - Damping of the Payload [N/(m/s), N/(rad/s)]</span>
+<span class="org-comment">%        - m [1x1] - Mass of the Payload [kg]</span>
+<span class="org-comment">%        - I [3x3] - Inertia matrix for the Payload [kg*m2]</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Outputs:</span>
+<span class="org-comment">%    - payload - Struture with the following properties:</span>
+<span class="org-comment">%        - type - 1 (none), 2 (rigid), 3 (flexible)</span>
+<span class="org-comment">%        - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]</span>
+<span class="org-comment">%        - K [6x1] - Stiffness of the Payload [N/m, N/rad]</span>
+<span class="org-comment">%        - C [6x1] - Stiffness of the Payload [N/(m/s), N/(rad/s)]</span>
+<span class="org-comment">%        - m [1x1] - Mass of the Payload [kg]</span>
+<span class="org-comment">%        - I [3x3] - Inertia matrix for the Payload [kg*m2]</span>
 </pre>
 </div>
 </div>
 </div>

-<div id="outline-container-org5518a84" class="outline-4">
-<h4 id="org5518a84">Optional Parameters</h4>
-<div class="outline-text-4" id="text-org5518a84">
+<div id="outline-container-orgbc7950f" class="outline-4">
+<h4 id="orgbc7950f">Optional Parameters</h4>
+<div class="outline-text-4" id="text-orgbc7950f">
 <div class="org-src-container">
-<pre class="src src-matlab">arguments
-  args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'cartesian'})} = 'none'
-  args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e8*ones(6,1)
-  args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
-  args.h (1,1) double {mustBeNumeric, mustBeNonnegative} = 100e-3
-  args.m (1,1) double {mustBeNumeric, mustBeNonnegative} = 10
-  args.I (3,3) double {mustBeNumeric, mustBeNonnegative} = 1*eye(3)
-end
+<pre class="src src-matlab"><span class="org-keyword">arguments</span>
+    <span class="org-variable-name">args</span>.type char {mustBeMember(args.type,{<span class="org-string">'none'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'cartesian'</span>})} = <span class="org-string">'none'</span>
+    <span class="org-variable-name">args</span>.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e8<span class="org-type">*</span>ones(6,1)
+    <span class="org-variable-name">args</span>.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1<span class="org-type">*</span>ones(6,1)
+    <span class="org-variable-name">args</span>.h (1,1) double {mustBeNumeric, mustBeNonnegative} = 100e<span class="org-type">-</span>3
+    <span class="org-variable-name">args</span>.m (1,1) double {mustBeNumeric, mustBeNonnegative} = 10
+    <span class="org-variable-name">args</span>.I (3,3) double {mustBeNumeric, mustBeNonnegative} = 1<span class="org-type">*</span>eye(3)
+<span class="org-keyword">end</span>
 </pre>
 </div>
 </div>
 </div>

-<div id="outline-container-orgeeb8d35" class="outline-4">
-<h4 id="orgeeb8d35">Add Payload Type</h4>
-<div class="outline-text-4" id="text-orgeeb8d35">
+<div id="outline-container-org4ef4a9f" class="outline-4">
+<h4 id="org4ef4a9f">Add Payload Type</h4>
+<div class="outline-text-4" id="text-org4ef4a9f">
 <div class="org-src-container">
-<pre class="src src-matlab">switch args.type
-  case 'none'
+<pre class="src src-matlab"><span class="org-keyword">switch</span> <span class="org-constant">args.type</span>
+  <span class="org-keyword">case</span> <span class="org-string">'none'</span>
    payload.type = 1;
-  case 'rigid'
+  <span class="org-keyword">case</span> <span class="org-string">'rigid'</span>
    payload.type = 2;
-  case 'flexible'
+  <span class="org-keyword">case</span> <span class="org-string">'flexible'</span>
    payload.type = 3;
-  case 'cartesian'
+  <span class="org-keyword">case</span> <span class="org-string">'cartesian'</span>
    payload.type = 4;
-end
+<span class="org-keyword">end</span>
 </pre>
 </div>
 </div>
 </div>

-<div id="outline-container-org6d52ffc" class="outline-4">
-<h4 id="org6d52ffc">Add Stiffness, Damping and Mass properties of the Payload</h4>
-<div class="outline-text-4" id="text-org6d52ffc">
+<div id="outline-container-org3243d76" class="outline-4">
+<h4 id="org3243d76">Add Stiffness, Damping and Mass properties of the Payload</h4>
+<div class="outline-text-4" id="text-org3243d76">
 <div class="org-src-container">
 <pre class="src src-matlab">payload.K = args.K;
 payload.C = args.C;
@@ -382,11 +387,11 @@ payload.h = args.h;
 </div>
 </div>

-<div id="outline-container-orgaaed406" class="outline-3">
-<h3 id="orgaaed406"><span class="section-number-3">6.2</span> Ground</h3>
+<div id="outline-container-orgd9e12ef" class="outline-3">
+<h3 id="orgd9e12ef"><span class="section-number-3">6.2</span> Ground</h3>
 <div class="outline-text-3" id="text-6-2">
 <p>
-<a id="orge64ba82"></a>
+<a id="org140423a"></a>
 </p>

 <p>
@@ -394,67 +399,67 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
 </p>
 </div>

-<div id="outline-container-org7732939" class="outline-4">
-<h4 id="org7732939">Function description</h4>
-<div class="outline-text-4" id="text-org7732939">
+<div id="outline-container-orgc300ecf" class="outline-4">
+<h4 id="orgc300ecf">Function description</h4>
+<div class="outline-text-4" id="text-orgc300ecf">
 <div class="org-src-container">
-<pre class="src src-matlab">function [ground] = initializeGround(args)
-% initializeGround - Initialize the Ground that can then be used for simulations and analysis
-%
-% Syntax: [ground] = initializeGround(args)
-%
-% Inputs:
-%    - args - Structure with the following fields:
-%        - type - 'none', 'solid', 'flexible'
-%        - rot_point [3x1] - Rotation point for the ground motion [m]
-%        - K [3x1] - Translation Stiffness of the Ground [N/m]
-%        - C [3x1] - Translation Damping of the Ground [N/(m/s)]
-%
-% Outputs:
-%    - ground - Struture with the following properties:
-%        - type - 1 (none), 2 (rigid), 3 (flexible)
-%        - K [3x1] - Translation Stiffness of the Ground [N/m]
-%        - C [3x1] - Translation Damping of the Ground [N/(m/s)]
+<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[ground]</span> = <span class="org-function-name">initializeGround</span>(<span class="org-variable-name">args</span>)
+<span class="org-comment">% initializeGround - Initialize the Ground that can then be used for simulations and analysis</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Syntax: [ground] = initializeGround(args)</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Inputs:</span>
+<span class="org-comment">%    - args - Structure with the following fields:</span>
+<span class="org-comment">%        - type - 'none', 'solid', 'flexible'</span>
+<span class="org-comment">%        - rot_point [3x1] - Rotation point for the ground motion [m]</span>
+<span class="org-comment">%        - K [3x1] - Translation Stiffness of the Ground [N/m]</span>
+<span class="org-comment">%        - C [3x1] - Translation Damping of the Ground [N/(m/s)]</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Outputs:</span>
+<span class="org-comment">%    - ground - Struture with the following properties:</span>
+<span class="org-comment">%        - type - 1 (none), 2 (rigid), 3 (flexible)</span>
+<span class="org-comment">%        - K [3x1] - Translation Stiffness of the Ground [N/m]</span>
+<span class="org-comment">%        - C [3x1] - Translation Damping of the Ground [N/(m/s)]</span>
 </pre>
 </div>
 </div>
 </div>

-<div id="outline-container-org480f36e" class="outline-4">
-<h4 id="org480f36e">Optional Parameters</h4>
-<div class="outline-text-4" id="text-org480f36e">
+<div id="outline-container-org1ee272a" class="outline-4">
+<h4 id="org1ee272a">Optional Parameters</h4>
+<div class="outline-text-4" id="text-org1ee272a">
 <div class="org-src-container">
-<pre class="src src-matlab">arguments
-  args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'none'
-  args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1)
-  args.K (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e8*ones(3,1)
-  args.C (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(3,1)
-end
+<pre class="src src-matlab"><span class="org-keyword">arguments</span>
+    <span class="org-variable-name">args</span>.type char {mustBeMember(args.type,{<span class="org-string">'none'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'flexible'</span>})} = <span class="org-string">'none'</span>
+    <span class="org-variable-name">args</span>.rot_point (3,1) double {mustBeNumeric} = zeros(3,1)
+    <span class="org-variable-name">args</span>.K (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e8<span class="org-type">*</span>ones(3,1)
+    <span class="org-variable-name">args</span>.C (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e1<span class="org-type">*</span>ones(3,1)
+<span class="org-keyword">end</span>
 </pre>
 </div>
 </div>
 </div>

-<div id="outline-container-orgef7035d" class="outline-4">
-<h4 id="orgef7035d">Add Ground Type</h4>
-<div class="outline-text-4" id="text-orgef7035d">
+<div id="outline-container-org2d22970" class="outline-4">
+<h4 id="org2d22970">Add Ground Type</h4>
+<div class="outline-text-4" id="text-org2d22970">
 <div class="org-src-container">
-<pre class="src src-matlab">switch args.type
-  case 'none'
+<pre class="src src-matlab"><span class="org-keyword">switch</span> <span class="org-constant">args.type</span>
+  <span class="org-keyword">case</span> <span class="org-string">'none'</span>
    ground.type = 1;
-  case 'rigid'
+  <span class="org-keyword">case</span> <span class="org-string">'rigid'</span>
    ground.type = 2;
-  case 'flexible'
+  <span class="org-keyword">case</span> <span class="org-string">'flexible'</span>
    ground.type = 3;
-end
+<span class="org-keyword">end</span>
 </pre>
 </div>
 </div>
 </div>

-<div id="outline-container-org95633e8" class="outline-4">
-<h4 id="org95633e8">Add Stiffness and Damping properties of the Ground</h4>
-<div class="outline-text-4" id="text-org95633e8">
+<div id="outline-container-orgf76def4" class="outline-4">
+<h4 id="orgf76def4">Add Stiffness and Damping properties of the Ground</h4>
+<div class="outline-text-4" id="text-orgf76def4">
 <div class="org-src-container">
 <pre class="src src-matlab">ground.K = args.K;
 ground.C = args.C;
@@ -463,9 +468,9 @@ ground.C = args.C;
 </div>
 </div>

-<div id="outline-container-org14ff2fc" class="outline-4">
-<h4 id="org14ff2fc">Rotation Point</h4>
-<div class="outline-text-4" id="text-org14ff2fc">
+<div id="outline-container-orgdb67a68" class="outline-4">
+<h4 id="orgdb67a68">Rotation Point</h4>
+<div class="outline-text-4" id="text-orgdb67a68">
 <div class="org-src-container">
 <pre class="src src-matlab">ground.rot_point = args.rot_point;
 </pre>
@@ -474,50 +479,50 @@ ground.C = args.C;
 </div>
 </div>
 </div>
-<div id="outline-container-orgae6907a" class="outline-2">
-<h2 id="orgae6907a"><span class="section-number-2">7</span> Initialize Disturbances</h2>
+<div id="outline-container-org6d3b61e" class="outline-2">
+<h2 id="org6d3b61e"><span class="section-number-2">7</span> Initialize Disturbances</h2>
 <div class="outline-text-2" id="text-7">
 <p>
-<a id="org96254bf"></a>
+<a id="org5c942ea"></a>
 </p>
 </div>

-<div id="outline-container-orge2fa859" class="outline-3">
-<h3 id="orge2fa859">Function Declaration and Documentation</h3>
-<div class="outline-text-3" id="text-orge2fa859">
+<div id="outline-container-orgf124972" class="outline-3">
+<h3 id="orgf124972">Function Declaration and Documentation</h3>
+<div class="outline-text-3" id="text-orgf124972">
 <div class="org-src-container">
-<pre class="src src-matlab">function [disturbances] = initializeDisturbances(args)
-% initializeDisturbances - Initialize the disturbances
-%
-% Syntax: [disturbances] = initializeDisturbances(args)
-%
-% Inputs:
-%    - args -
+<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[disturbances]</span> = <span class="org-function-name">initializeDisturbances</span>(<span class="org-variable-name">args</span>)
+<span class="org-comment">% initializeDisturbances - Initialize the disturbances</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Syntax: [disturbances] = initializeDisturbances(args)</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Inputs:</span>
+<span class="org-comment">%    - args -</span>

 </pre>
 </div>
 </div>
 </div>

-<div id="outline-container-org6adb628" class="outline-3">
-<h3 id="org6adb628">Optional Parameters</h3>
-<div class="outline-text-3" id="text-org6adb628">
+<div id="outline-container-org668f4bb" class="outline-3">
+<h3 id="org668f4bb">Optional Parameters</h3>
+<div class="outline-text-3" id="text-org668f4bb">
 <div class="org-src-container">
-<pre class="src src-matlab">arguments
-  args.Fd     double  {mustBeNumeric, mustBeReal} = zeros(6,1)
-  args.Fd_t   double  {mustBeNumeric, mustBeReal} = 0
-  args.Dw     double  {mustBeNumeric, mustBeReal} = zeros(6,1)
-  args.Dw_t   double  {mustBeNumeric, mustBeReal} = 0
-end
+<pre class="src src-matlab"><span class="org-keyword">arguments</span>
+    <span class="org-variable-name">args</span>.Fd     double  {mustBeNumeric, mustBeReal} = zeros(6,1)
+    <span class="org-variable-name">args</span>.Fd_t   double  {mustBeNumeric, mustBeReal} = 0
+    <span class="org-variable-name">args</span>.Dw     double  {mustBeNumeric, mustBeReal} = zeros(6,1)
+    <span class="org-variable-name">args</span>.Dw_t   double  {mustBeNumeric, mustBeReal} = 0
+<span class="org-keyword">end</span>
 </pre>
 </div>
 </div>
 </div>


-<div id="outline-container-org30dc07c" class="outline-3">
-<h3 id="org30dc07c">Structure initialization</h3>
-<div class="outline-text-3" id="text-org30dc07c">
+<div id="outline-container-org0f7e4dd" class="outline-3">
+<h3 id="org0f7e4dd">Structure initialization</h3>
+<div class="outline-text-3" id="text-org0f7e4dd">
 <div class="org-src-container">
 <pre class="src src-matlab">disturbances = struct();
 </pre>
@@ -525,9 +530,9 @@ end
 </div>
 </div>

-<div id="outline-container-org0755155" class="outline-3">
-<h3 id="org0755155">Ground Motion</h3>
-<div class="outline-text-3" id="text-org0755155">
+<div id="outline-container-org1a28fcd" class="outline-3">
+<h3 id="org1a28fcd">Ground Motion</h3>
+<div class="outline-text-3" id="text-org1a28fcd">
 <div class="org-src-container">
 <pre class="src src-matlab">disturbances.Dw = timeseries([args.Dw], args.Dw_t);
 </pre>
@@ -535,9 +540,9 @@ end
 </div>
 </div>

-<div id="outline-container-org7617a55" class="outline-3">
-<h3 id="org7617a55">Direct Forces</h3>
-<div class="outline-text-3" id="text-org7617a55">
+<div id="outline-container-org90b72d6" class="outline-3">
+<h3 id="org90b72d6">Direct Forces</h3>
+<div class="outline-text-3" id="text-org90b72d6">
 <div class="org-src-container">
 <pre class="src src-matlab">disturbances.Fd = timeseries([args.Fd], args.Fd_t);
 </pre>
@@ -546,73 +551,73 @@ end
 </div>
 </div>

-<div id="outline-container-orgd45a07f" class="outline-2">
-<h2 id="orgd45a07f"><span class="section-number-2">8</span> Initialize References</h2>
+<div id="outline-container-org93f2d30" class="outline-2">
+<h2 id="org93f2d30"><span class="section-number-2">8</span> Initialize References</h2>
 <div class="outline-text-2" id="text-8">
 <p>
-<a id="org7e762f4"></a>
+<a id="orge24eeb5"></a>
 </p>
 </div>

-<div id="outline-container-orge5deaa1" class="outline-3">
-<h3 id="orge5deaa1">Function Declaration and Documentation</h3>
-<div class="outline-text-3" id="text-orge5deaa1">
+<div id="outline-container-org81500bb" class="outline-3">
+<h3 id="org81500bb">Function Declaration and Documentation</h3>
+<div class="outline-text-3" id="text-org81500bb">
 <div class="org-src-container">
-<pre class="src src-matlab">function [references] = initializeReferences(stewart, args)
-% initializeReferences - Initialize the references
-%
-% Syntax: [references] = initializeReferences(args)
-%
-% Inputs:
-%    - args -
+<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[references]</span> = <span class="org-function-name">initializeReferences</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
+<span class="org-comment">% initializeReferences - Initialize the references</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Syntax: [references] = initializeReferences(args)</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Inputs:</span>
+<span class="org-comment">%    - args -</span>

 </pre>
 </div>
 </div>
 </div>

-<div id="outline-container-orgeebb364" class="outline-3">
-<h3 id="orgeebb364">Optional Parameters</h3>
-<div class="outline-text-3" id="text-orgeebb364">
+<div id="outline-container-org05322ee" class="outline-3">
+<h3 id="org05322ee">Optional Parameters</h3>
+<div class="outline-text-3" id="text-org05322ee">
 <div class="org-src-container">
-<pre class="src src-matlab">arguments
-  stewart
-  args.t double {mustBeNumeric, mustBeReal} = 0
-  args.r double {mustBeNumeric, mustBeReal} = zeros(6, 1)
-end
+<pre class="src src-matlab"><span class="org-keyword">arguments</span>
+    <span class="org-variable-name">stewart</span>
+    <span class="org-variable-name">args</span>.t double {mustBeNumeric, mustBeReal} = 0
+    <span class="org-variable-name">args</span>.r double {mustBeNumeric, mustBeReal} = zeros(6, 1)
+<span class="org-keyword">end</span>
 </pre>
 </div>
 </div>
 </div>

-<div id="outline-container-orgc274320" class="outline-3">
-<h3 id="orgc274320"><span class="section-number-3">8.1</span> Compute the corresponding strut length</h3>
+<div id="outline-container-org6f05adc" class="outline-3">
+<h3 id="org6f05adc"><span class="section-number-3">8.1</span> Compute the corresponding strut length</h3>
 <div class="outline-text-3" id="text-8-1">
 <div class="org-src-container">
 <pre class="src src-matlab">rL = zeros(6, length(args.t));

-for i = 1:length(args.t)
-  R = [cos(args.r(6,i)) -sin(args.r(6,i))  0;
-       sin(args.r(6,i))  cos(args.r(6,i))  0;
-       0           0           1] * ...
-      [cos(args.r(5,i))  0           sin(args.r(5,i));
+<span class="org-keyword">for</span> <span class="org-variable-name"><span class="org-constant">i</span></span> = <span class="org-constant">1:length(args.t)</span>
+    R = [cos(args.r(6,<span class="org-constant">i</span>)) <span class="org-type">-</span>sin(args.r(6,<span class="org-constant">i</span>))  0;
+         sin(args.r(6,<span class="org-constant">i</span>))  cos(args.r(6,<span class="org-constant">i</span>))  0;
+         0           0           1] <span class="org-type">*</span> ...
+        [cos(args.r(5,<span class="org-constant">i</span>))  0           sin(args.r(5,<span class="org-constant">i</span>));
         0           1           0;
-      -sin(args.r(5,i))  0           cos(args.r(5,i))] * ...
+         <span class="org-type">-</span>sin(args.r(5,<span class="org-constant">i</span>))  0           cos(args.r(5,<span class="org-constant">i</span>))] <span class="org-type">*</span> ...
        [1           0           0;
-       0           cos(args.r(4,i)) -sin(args.r(4,i));
-       0           sin(args.r(4,i))  cos(args.r(4,i))];
+         0           cos(args.r(4,<span class="org-constant">i</span>)) <span class="org-type">-</span>sin(args.r(4,<span class="org-constant">i</span>));
+         0           sin(args.r(4,<span class="org-constant">i</span>))  cos(args.r(4,<span class="org-constant">i</span>))];

- [Li, dLi] = inverseKinematics(stewart, 'AP', [args.r(1,i); args.r(2,i); args.r(3,i)], 'ARB', R);
- rL(:, i) = dLi;
-end
+    [Li, dLi] = inverseKinematics(stewart, <span class="org-string">'AP'</span>, [args.r(1,<span class="org-constant">i</span>); args.r(2,<span class="org-constant">i</span>); args.r(3,<span class="org-constant">i</span>)], <span class="org-string">'ARB'</span>, R);
+    rL(<span class="org-type">:</span>, <span class="org-constant">i</span>) = dLi;
+<span class="org-keyword">end</span>
 </pre>
 </div>
 </div>
 </div>

-<div id="outline-container-org36ac3fa" class="outline-3">
-<h3 id="org36ac3fa">References</h3>
-<div class="outline-text-3" id="text-org36ac3fa">
+<div id="outline-container-orgda73a50" class="outline-3">
+<h3 id="orgda73a50">References</h3>
+<div class="outline-text-3" id="text-orgda73a50">
 <div class="org-src-container">
 <pre class="src src-matlab">references.r  = timeseries(args.r, args.t);
 references.rL = timeseries(rL, args.t);
@@ -624,7 +629,7 @@ references.rL = timeseries(rL, args.t);
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-08-05 mer. 13:27</p>
+<p class="date">Created: 2021-01-08 ven. 15:52</p>
 </div>
 </body>
 </html>
--- a/docs/simulink-project.html
+++ b/docs/simulink-project.html
@@ -3,17 +3,13 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2020-08-05 mer. 13:27 -->
+<!-- 2021-01-08 ven. 15:52 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <title>Simulink Project for the Stewart Simscape folder</title>
 <meta name="generator" content="Org mode" />
 <meta name="author" content="Dehaeze Thomas" />
-<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-<script src="./js/jquery.min.js"></script>
-<script src="./js/bootstrap.min.js"></script>
-<script src="./js/jquery.stickytableheaders.min.js"></script>
-<script src="./js/readtheorg.js"></script>
+<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
 </head>
 <body>
 <div id="org-div-home-and-up">
@@ -49,7 +45,7 @@ The project can be opened using the <code>simulinkproject</code> function:
 </p>

 <div class="org-src-container">
-<pre class="src src-matlab">simulinkproject('../');
+<pre class="src src-matlab">simulinkproject(<span class="org-string">'../'</span>);
 </pre>
 </div>

@@ -61,16 +57,16 @@ The startup script is defined below and is exported to the <code>project_startup
 <pre class="src src-matlab">project = simulinkproject;
 projectRoot = project.RootFolder;

-myCacheFolder = fullfile(projectRoot, '.SimulinkCache');
-myCodeFolder = fullfile(projectRoot, '.SimulinkCode');
+myCacheFolder = fullfile(projectRoot, <span class="org-string">'.SimulinkCache'</span>);
+myCodeFolder = fullfile(projectRoot, <span class="org-string">'.SimulinkCode'</span>);

-Simulink.fileGenControl('set',...
-    'CacheFolder', myCacheFolder,...
-    'CodeGenFolder', myCodeFolder,...
-    'createDir', true);
+Simulink.fileGenControl(<span class="org-string">'set'</span>,...
+                        <span class="org-string">'CacheFolder'</span>, myCacheFolder,...
+                        <span class="org-string">'CodeGenFolder'</span>, myCodeFolder,...
+                        <span class="org-string">'createDir'</span>, <span class="org-constant">true</span>);

-%% Load the Simscape Configuration
-load('mat/conf_simscape.mat');
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Load the Simscape Configuration</span></span>
+load(<span class="org-string">'mat/conf_simscape.mat'</span>);
 </pre>
 </div>

@@ -78,7 +74,7 @@ load('mat/conf_simscape.mat');
 When the project closes, it runs the <code>project_shutdown.m</code> script defined below.
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">Simulink.fileGenControl('reset');
+<pre class="src src-matlab">Simulink.fileGenControl(<span class="org-string">'reset'</span>);
 </pre>
 </div>

@@ -88,7 +84,7 @@ The project also permits to automatically add defined folder to the path when th
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-08-05 mer. 13:27</p>
+<p class="date">Created: 2021-01-08 ven. 15:52</p>
 </div>
 </body>
 </html>
--- a/docs/static-analysis.html
+++ b/docs/static-analysis.html
@@ -3,25 +3,30 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2020-08-05 mer. 13:27 -->
+<!-- 2021-01-08 ven. 15:53 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <title>Stewart Platform - Static Analysis</title>
 <meta name="generator" content="Org mode" />
 <meta name="author" content="Dehaeze Thomas" />
-<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-<script src="./js/jquery.min.js"></script>
-<script src="./js/bootstrap.min.js"></script>
-<script src="./js/jquery.stickytableheaders.min.js"></script>
-<script src="./js/readtheorg.js"></script>
-<script>MathJax = {
+<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
+<script>
+           MathJax = {
+             svg: {
+               scale: 1,
+               fontCache: "global"
+             },
             tex: {
-            tags: 'ams',
-            macros: {bm: ["\\boldsymbol{#1}",1],}
+               tags: "ams",
+               multlineWidth: "%MULTLINEWIDTH",
+               tagSide: "right",
+                       macros: {bm: ["\\boldsymbol{#1}",1],},
+               tagIndent: ".8em"
             }
           };
           </script>
-          <script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
+           <script id="MathJax-script" async
+             src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-svg.js"></script>
 </head>
 <body>
 <div id="org-div-home-and-up">
@@ -34,20 +39,20 @@
 <h2>Table of Contents</h2>
 <div id="text-table-of-contents">
 <ul>
-<li><a href="#orgc502e97">1. Coupling</a></li>
+<li><a href="#org5d87fd3">1. Coupling</a></li>
 </ul>
 </div>
 </div>

-<div id="outline-container-orgc502e97" class="outline-2">
-<h2 id="orgc502e97"><span class="section-number-2">1</span> Coupling</h2>
+<div id="outline-container-org5d87fd3" class="outline-2">
+<h2 id="org5d87fd3"><span class="section-number-2">1</span> Coupling</h2>
 <div class="outline-text-2" id="text-1">
 <p>
 What causes the coupling from \(F_i\) to \(X_i\) ?
 </p>


-<div id="org41430df" class="figure">
+<div id="orgd94ead3" class="figure">
 <p><img src="figs/coupling.png" alt="coupling.png" />
 </p>
 <p><span class="figure-number">Figure 1: </span>Block diagram to control an hexapod</p>
@@ -69,7 +74,7 @@ Thus, the system is uncoupled if \(G\) and \(K\) are diagonal.
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-08-05 mer. 13:27</p>
+<p class="date">Created: 2021-01-08 ven. 15:53</p>
 </div>
 </body>
 </html>
--- a/docs/stewart-architecture.html
+++ b/docs/stewart-architecture.html
--- a/mat/APA300ML.mat
+++ b/mat/APA300ML.mat
--- a/mat/base_plate.STEP
+++ b/mat/base_plate.STEP
--- a/mat/flexor_025.mat
+++ b/mat/flexor_025.mat
--- a/mat/flexor_025.step
+++ b/mat/flexor_025.step
--- a/mat/motion_error_ol.mat
+++ b/mat/motion_error_ol.mat
--- a/mat/strut_encoder.mat
+++ b/mat/strut_encoder.mat
--- a/mat/strut_encoder.step
+++ b/mat/strut_encoder.step
--- a/mat/top_plate.STEP
+++ b/mat/top_plate.STEP
--- a/matlab/active_damping_dvf.m
+++ b/matlab/active_damping_dvf.m
@@ -23,8 +23,9 @@ stewart = computeJacobian(stewart);
 stewart = initializeStewartPose(stewart);
 stewart = initializeInertialSensor(stewart, 'type', 'none');

-ground = initializeGround('type', 'none');
+ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
 payload = initializePayload('type', 'none');
+controller = initializeController('type', 'open-loop');



--- a/matlab/active_damping_iff.m
+++ b/matlab/active_damping_iff.m
@@ -23,17 +23,14 @@ stewart = computeJacobian(stewart);
 stewart = initializeStewartPose(stewart);
 stewart = initializeInertialSensor(stewart, 'type', 'none');

-ground = initializeGround('type', 'none');
+ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
 payload = initializePayload('type', 'none');
+controller = initializeController('type', 'open-loop');



 % And we identify the dynamics from force actuators to force sensors.

-%% Options for Linearized
-options = linearizeOptions;
-options.SampleTime = 0;
-
 %% Name of the Simulink File
 mdl = 'stewart_platform_model';

@@ -43,7 +40,7 @@ io(io_i) = linio([mdl, '/Controller'],        1, 'openinput');  io_i = io_i + 1;
 io(io_i) = linio([mdl, '/Stewart Platform'],  1, 'openoutput', [], 'Taum'); io_i = io_i + 1; % Force Sensor Outputs [N]

 %% Run the linearization
-G = linearize(mdl, io, options);
+G = linearize(mdl, io);
 G.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
 G.OutputName = {'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};

@@ -88,7 +85,7 @@ linkaxes([ax1,ax2],'x');
 % We add some stiffness and damping in the flexible joints and we re-identify the dynamics.

 stewart = initializeJointDynamics(stewart, 'type_F', 'universal', 'type_M', 'spherical');
-Gf = linearize(mdl, io, options);
+Gf = linearize(mdl, io);
 Gf.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
 Gf.OutputName = {'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};

@@ -97,7 +94,7 @@ Gf.OutputName = {'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};
 % We now use the amplified actuators and re-identify the dynamics

 stewart = initializeAmplifiedStrutDynamics(stewart);
-Ga = linearize(mdl, io, options);
+Ga = linearize(mdl, io);
 Ga.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
 Ga.OutputName = {'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};

--- a/matlab/active_damping_inertial.m
+++ b/matlab/active_damping_inertial.m
@@ -22,8 +22,9 @@ stewart = computeJacobian(stewart);
 stewart = initializeStewartPose(stewart);
 stewart = initializeInertialSensor(stewart, 'type', 'accelerometer', 'freq', 5e3);

-ground = initializeGround('type', 'none');
+ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
 payload = initializePayload('type', 'none');
+controller = initializeController('type', 'open-loop');

 %% Options for Linearized
 options = linearizeOptions;
--- a/matlab/stewart_platform_model.slx
+++ b/matlab/stewart_platform_model.slx
--- a/org/bibliography.org
+++ b/org/bibliography.org
@@ -9,12 +9,8 @@
 #+HTML_LINK_HOME: ./index.html
 #+HTML_LINK_UP: ./index.html

-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
--- a/org/control-active-damping.org
+++ b/org/control-active-damping.org
@@ -9,12 +9,8 @@
 #+HTML_LINK_HOME: ./index.html
 #+HTML_LINK_UP: ./index.html

-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
--- a/org/control-tracking.org
+++ b/org/control-tracking.org
@@ -9,12 +9,8 @@
 #+HTML_LINK_HOME: ./index.html
 #+HTML_LINK_UP: ./index.html

-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
--- a/org/control-vibration-isolation.org
+++ b/org/control-vibration-isolation.org
@@ -9,12 +9,8 @@
 #+HTML_LINK_HOME: ./index.html
 #+HTML_LINK_UP: ./index.html

-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
--- a/org/cubic-configuration.org
+++ b/org/cubic-configuration.org
@@ -9,12 +9,8 @@
 #+HTML_LINK_HOME: ./index.html
 #+HTML_LINK_UP: ./index.html

-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
--- a/org/dynamics-study.org
+++ b/org/dynamics-study.org
@@ -9,12 +9,8 @@
 #+HTML_LINK_HOME: ./index.html
 #+HTML_LINK_UP: ./index.html

-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
--- a/org/flexible-stewart-platform.org
+++ b/org/flexible-stewart-platform.org
@@ -9,12 +9,8 @@
 #+HTML_LINK_HOME: ./index.html
 #+HTML_LINK_UP: ./index.html

-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
@@ -1450,11 +1446,11 @@ Quantitatively:
 simulinkproject('../');
 #+end_src

-** Stewart Platform Initialization
 #+begin_src matlab
-  apa = load('./mat/APA300ML.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
+open('stewart_platform_model.slx')
 #+end_src

+** Stewart Platform Initialization
 #+begin_src matlab
 stewart = initializeStewartPlatform();
 stewart = initializeFramesPositions(stewart);
@@ -1463,32 +1459,23 @@ Quantitatively:
 #+end_src

 #+begin_src matlab
-  stewart = initializeAmplifiedStrutDynamics(stewart, 'Ke', 1.5e6*ones(6,1), 'Ka', 43e6*ones(6,1), 'K1', 0.4e6*ones(6,1), 'C1', 10*ones(6,1));
+apa = load('./mat/APA300ML.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
+stewart = initializeAmplifiedStrutDynamics(stewart, 'Ke', 1.5e6*ones(6,1), 'Ka', 40.5e6*ones(6,1), 'K1', 0.4e6*ones(6,1));
 % stewart = initializeFlexibleStrutDynamics(stewart, 'H', 0.03, 'K', apa.K, 'M', apa.M, 'n_xyz', apa.n_xyz, 'xi', 0.1, 'step_file', 'mat/APA300ML.STEP');
 #+end_src

 #+begin_src matlab
-  stewart = initializeJointDynamics(stewart, 'type_F', 'universal_3dof', ...
-                                             'type_M', 'spherical_3dof', ...
-                                             'Kf_M', 100*ones(6,1), ...
-                                             'Kt_M', 500*ones(6,1), ...
-                                             'Kf_F', 100*ones(6,1), ...
-                                             'Kt_F', 500*ones(6,1), ...
-                                             'Ka_M', 200e6*ones(6,1), ...
-                                             'Kr_M', 1e6*ones(6,1), ...
-                                             'Ka_F', 200e6*ones(6,1), ...
-                                             'Kr_F', 1e6*ones(6,1));
-  % stewart = initializeJointDynamics(stewart, 'type_F', 'universal_3dof', ...
-  %                                            'type_M', 'spherical_3dof', ...
-  %                                            'Kf_M', 100*ones(6,1), ...
-  %                                            'Kt_M', 500*ones(6,1), ...
-  %                                            'Kf_F', 100*ones(6,1), ...
-  %                                            'Kt_F', 500*ones(6,1), ...
-  %                                            'Ka_M', 1e6*ones(6,1), ...
-  %                                            'Kr_M', 1e6*ones(6,1), ...
-  %                                            'Ka_F', 1e6*ones(6,1), ...
-  %                                            'Kr_F', 1e6*ones(6,1));
-  % stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
+flex_joint = load('./mat/flexor_025.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
+stewart = initializeJointDynamics(stewart, 'type_M', 'spherical_3dof', ...
+                                  'Kr_M', flex_joint.K(1,1)*ones(6,1), ...
+                                  'Ka_M', flex_joint.K(3,3)*ones(6,1), ...
+                                  'Kf_M', flex_joint.K(4,4)*ones(6,1), ...
+                                  'Kt_M', flex_joint.K(6,6)*ones(6,1), ...
+                                  'type_F', 'universal_3dof', ...
+                                  'Kr_F', flex_joint.K(1,1)*ones(6,1), ...
+                                  'Ka_F', flex_joint.K(3,3)*ones(6,1), ...
+                                  'Kf_F', flex_joint.K(4,4)*ones(6,1), ...
+                                  'Kt_F', flex_joint.K(6,6)*ones(6,1));
 #+end_src

 #+begin_src matlab
@@ -1497,7 +1484,6 @@ Quantitatively:

 #+begin_src matlab
 stewart = initializeCylindricalStruts(stewart);
-  % stewart = initializeCylindricalStruts(stewart, 'type_F', 'none', 'type_M', 'none');
 #+end_src

 #+begin_src matlab
@@ -1518,10 +1504,6 @@ Quantitatively:
 disturbances = initializeDisturbances();
 #+end_src

-#+begin_src matlab
-  open('stewart_platform_model.slx')
-#+end_src
-
 ** Initialization                                                  :noexport:
 #+begin_src matlab
 %% Options for Linearized
@@ -1581,3 +1563,156 @@ Quantitatively:

 linkaxes([ax1,ax2],'x');
 #+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/comp_relative_motion_sensor_act_leg.pdf', 'width', 'full', 'height', 'full');
+#+end_src
+
+#+name: fig:comp_relative_motion_sensor_act_leg
+#+caption: Comparison of the dynamique from actuator to relative motion sensor located in parallel with the actuator or with the leg (flexible joints included)
+#+RESULTS:
+[[file:figs/comp_relative_motion_sensor_act_leg.png]]
+
+* Struts with Encoders
+** Matlab Init                                              :noexport:ignore:
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+<<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
+<<matlab-init>>
+#+end_src
+
+#+begin_src matlab :results none :exports none
+simulinkproject('../');
+#+end_src
+
+** Flexible Strut
+#+begin_src matlab
+apa = load('./mat/strut_encoder.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
+#+end_src
+
+#+begin_src matlab :exports results :results value table replace :tangle no
+data2orgtable([length(apa.n_i); length(apa.int_i); size(apa.M,1) - 6*length(apa.int_i); size(apa.M,1)], {'Total number of Nodes', 'Number of interface Nodes', 'Number of Modes', 'Size of M and K matrices'}, {}, ' %.0f ');
+#+end_src
+
+#+RESULTS:
+| Total number of Nodes     |  8 |
+| Number of interface Nodes |  8 |
+| Number of Modes           |  6 |
+| Size of M and K matrices  | 54 |
+
+#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
+data2orgtable([[1:length(apa.int_i)]', apa.int_i, apa.int_xyz], {}, {'Node i', 'Node Number', 'x [m]', 'y [m]', 'z [m]'}, ' %f ');
+#+end_src
+
+#+caption: Coordinates of the interface nodes
+#+RESULTS:
+| Node i | Node Number |   x [m] |  y [m] |    z [m] |
+|--------+-------------+---------+--------+----------|
+|    1.0 |    504411.0 |     0.0 |    0.0 |   0.0405 |
+|    2.0 |    504412.0 |     0.0 |    0.0 |  -0.0405 |
+|    3.0 |    504413.0 | -0.0325 |    0.0 |      0.0 |
+|    4.0 |    504414.0 | -0.0125 |    0.0 |      0.0 |
+|    5.0 |    504415.0 | -0.0075 |    0.0 |      0.0 |
+|    6.0 |    504416.0 |  0.0325 |    0.0 |      0.0 |
+|    7.0 |    504417.0 |   0.004 | 0.0145 | -0.00175 |
+|    8.0 |    504418.0 |   0.004 | 0.0166 | -0.00175 |
+
+** Stewart Platform
+#+begin_src matlab
+stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, 'H', 95e-3, 'MO_B', 220e-3);
+stewart = generateGeneralConfiguration(stewart, 'FH', 22.5e-3, 'FR', 114e-3, 'FTh', [   -11,    11, 120-11, 120+11, 240-11, 240+11]*(pi/180), ...
+                                       'MH', 22.5e-3, 'MR', 110e-3, 'MTh', [-60+15, 60-15,  60+15, 180-15, 180+15, -60-15]*(pi/180));
+stewart = computeJointsPose(stewart);
+
+stewart = initializeFlexibleStrutAndJointDynamics(stewart, 'H', (apa.int_xyz(1,3) - apa.int_xyz(2,3)), ...
+                                                  'K', apa.K, ...
+                                                  'M', apa.M, ...
+                                                  'n_xyz', apa.n_xyz, ...
+                                                  'xi', 0.1, ...
+                                                  'Gf', -2.65e7, ...
+                                                  'step_file', 'mat/APA300ML.STEP');
+
+stewart = initializeSolidPlatforms(stewart);
+stewart = initializeCylindricalStruts(stewart, 'type_F', 'none', 'type_M', 'none');
+stewart = computeJacobian(stewart);
+stewart = initializeStewartPose(stewart);
+stewart = initializeInertialSensor(stewart);
+#+end_src
+
+#+begin_src matlab
+disturbances = initializeDisturbances();
+ground = initializeGround('type', 'none');
+payload = initializePayload('type', 'rigid', 'm', 1);
+controller = initializeController('type', 'open-loop');
+references = initializeReferences(stewart);
+#+end_src
+
+
+#+begin_src matlab
+%% Options for Linearized
+options = linearizeOptions;
+options.SampleTime = 0;
+
+%% Name of the Simulink File
+mdl = 'stewart_platform_model';
+
+%% Input/Output definition
+clear io; io_i = 1;
+io(io_i) = linio([mdl, '/Controller'],        1, 'openinput');  io_i = io_i + 1; % Actuator Force Inputs [N]
+io(io_i) = linio([mdl, '/Stewart Platform'],  1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m]
+io(io_i) = linio([mdl, '/Stewart Platform'],  1, 'openoutput', [], 'Lm'); io_i = io_i + 1; % Force Sensors [N]
+#+end_src
+
+#+begin_src matlab
+%% Run the linearization
+G = linearize(mdl, io, options);
+G.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
+G.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', ...
+                'D1', 'D2', 'D3', 'D4', 'D5', 'D6'};
+#+end_src
+
+#+begin_src matlab :exports none
+freqs = logspace(0, 3, 1000);
+
+figure;
+
+ax1 = subplot(2, 1, 1);
+hold on;
+for i = 1:6
+    plot(freqs, abs(squeeze(freqresp(G(i,i), freqs, 'Hz'))), 'color', [0 0.4470 0.7410 0.2]);
+end
+for i = 1:6
+    plot(freqs, abs(squeeze(freqresp(G(6+i,i), freqs, 'Hz'))), 'color', [0.8500 0.3250 0.0980 0.2]);
+end
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
+
+ax2 = subplot(2, 1, 2);
+hold on;
+for i = 1:6
+    plot(freqs, 180/pi*angle(squeeze(freqresp(G(i,i), freqs, 'Hz'))), 'color', [0 0.4470 0.7410 0.2]);
+end
+for i = 1:6
+    plot(freqs, 180/pi*angle(squeeze(freqresp(G(6+i,i), freqs, 'Hz'))), 'color', [0.8500 0.3250 0.0980 0.2]);
+end
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
+ylim([-180, 180]);
+yticks([-180, -90, 0, 90, 180]);
+
+linkaxes([ax1,ax2],'x');
+#+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/comp_relative_motion_sensor_act_leg_encoder.pdf', 'width', 'full', 'height', 'full');
+#+end_src
+
+#+name: fig:comp_relative_motion_sensor_act_leg_encoder
+#+caption:
+#+RESULTS:
+[[file:figs/comp_relative_motion_sensor_act_leg_encoder.png]]
--- a/org/identification.org
+++ b/org/identification.org
@@ -9,12 +9,8 @@
 #+HTML_LINK_HOME: ./index.html
 #+HTML_LINK_UP: ./index.html

-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
--- a/org/index.org
+++ b/org/index.org
@@ -1,11 +1,10 @@
 #+TITLE: Stewart Platforms
 :DRAWER:
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
+#+HTML_LINK_HOME: https://research.tdehaeze.xyz/
+#+HTML_LINK_UP:   https://research.tdehaeze.xyz/
+
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

 #+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
 #+PROPERTY: header-args:latex+ :imagemagick t :fit yes
@@ -20,8 +19,8 @@

 * Introduction                                                       :ignore:
 The goal of this project is to provide a Matlab/Simscape Toolbox to study Stewart platforms.
-
 The project is divided into several section listed below.
+The git repository of the project is accessible [[https://git.tdehaeze.xyz/tdehaeze/stewart-simscape][here]].

 * Simulink Project ([[file:simulink-project.org][link]])
 The project is managed with a *Simulink Project*.
--- a/org/kinematic-study.org
+++ b/org/kinematic-study.org
@@ -9,12 +9,8 @@
 #+HTML_LINK_HOME: ./index.html
 #+HTML_LINK_UP: ./index.html

-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
--- a/org/nass.org
+++ b/org/nass.org
@@ -0,0 +1,84 @@
+#+TITLE: Stewart Platform - NASS
+:DRAWER:
+#+STARTUP: overview
+
+#+LANGUAGE: en
+#+EMAIL: dehaeze.thomas@gmail.com
+#+AUTHOR: Dehaeze Thomas
+
+#+HTML_LINK_HOME: ./index.html
+#+HTML_LINK_UP: ./index.html
+
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
+
+#+PROPERTY: header-args:matlab  :session *MATLAB*
+#+PROPERTY: header-args:matlab+ :comments org
+#+PROPERTY: header-args:matlab+ :exports both
+#+PROPERTY: header-args:matlab+ :results none
+#+PROPERTY: header-args:matlab+ :eval no-export
+#+PROPERTY: header-args:matlab+ :noweb yes
+#+PROPERTY: header-args:matlab+ :mkdirp yes
+#+PROPERTY: header-args:matlab+ :output-dir figs
+
+#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
+#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
+#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
+#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
+#+PROPERTY: header-args:latex+ :results file raw replace
+#+PROPERTY: header-args:latex+ :buffer no
+#+PROPERTY: header-args:latex+ :eval no-export
+#+PROPERTY: header-args:latex+ :exports results
+#+PROPERTY: header-args:latex+ :mkdirp yes
+#+PROPERTY: header-args:latex+ :output-dir figs
+#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
+:END:
+
+* NASS
+** Matlab Init                                              :noexport:ignore:
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+<<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
+<<matlab-init>>
+#+end_src
+
+#+begin_src matlab
+simulinkproject('../');
+#+end_src
+
+#+begin_src matlab
+open('stewart_platform_model.slx')
+#+end_src
+
+** Identification of the Dynamics
+#+begin_src matlab
+apa = load('./mat/APA300ML.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
+flex_joint = load('./mat/flexor_ID16.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
+#+end_src
+
+#+begin_src matlab
+stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 175e-3);
+stewart = generateGeneralConfiguration(stewart, 'FH', 20e-3, 'MH', 20e-3, 'FR', 228e-3/2, 'MR', 220e-3/2, 'FTh', [-9, 9, 120-9, 120+9, 240-9, 240+9]*(pi/180), 'MTh', [-60+15, 60-15, 60+15, 180-15, 180+15, -60-15]*(pi/180));
+stewart = computeJointsPose(stewart);
+stewart = initializeFlexibleStrutDynamics(stewart, 'H', 0.03, 'K', apa.K, 'M', apa.M, 'n_xyz', apa.n_xyz, 'xi', 0.1, 'step_file', 'mat/APA300ML.STEP');
+stewart = initializeJointDynamics(stewart, 'type_F', 'flexible', 'K_F', flex_joint.K, 'M_F', flex_joint.M, 'n_xyz_F', flex_joint.n_xyz, 'xi_F', 0.1, 'step_file_F', 'mat/flexor_ID16.STEP', 'type_M', 'flexible', 'K_M', flex_joint.K, 'M_M', flex_joint.M, 'n_xyz_M', flex_joint.n_xyz, 'xi_M', 0.1, 'step_file_M', 'mat/flexor_ID16.STEP');
+stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 150e-3, 'Mpr', 125e-3);
+stewart = initializeCylindricalStruts(stewart, 'type_F', 'none', 'type_M', 'none');
+stewart = computeJacobian(stewart);
+stewart = initializeStewartPose(stewart);
+stewart = initializeInertialSensor(stewart);
+#+end_src
+
+#+begin_src matlab
+ground = initializeGround('type', 'none');
+payload = initializePayload('type', 'rigid', 'm', 50);
+controller = initializeController('type', 'open-loop');
+#+end_src
+
+#+begin_src matlab
+disturbances = initializeDisturbances();
+references = initializeReferences(stewart);
+#+end_src
--- a/org/simscape-model.org
+++ b/org/simscape-model.org
@@ -9,12 +9,8 @@
 #+HTML_LINK_HOME: ./index.html
 #+HTML_LINK_UP: ./index.html

-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
--- a/org/simulink-project.org
+++ b/org/simulink-project.org
@@ -9,12 +9,8 @@
 #+HTML_LINK_HOME: ./index.html
 #+HTML_LINK_UP: ./index.html

-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
--- a/org/static-analysis.org
+++ b/org/static-analysis.org
@@ -9,12 +9,8 @@
 #+HTML_LINK_HOME: ./index.html
 #+HTML_LINK_UP: ./index.html

-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
--- a/org/stewart-architecture.org
+++ b/org/stewart-architecture.org
@@ -9,12 +9,8 @@
 #+HTML_LINK_HOME: ./index.html
 #+HTML_LINK_UP: ./index.html

-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
-#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
-#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
@@ -926,6 +922,66 @@ This Matlab function is accessible [[file:../src/initializeCylindricalPlatforms.
 stewart.platform_M.H = args.Mph;
 #+end_src

+** =initializeSolidPlatforms=: Initialize the geometry of the Fixed and Mobile Platforms
+:PROPERTIES:
+:header-args:matlab+: :tangle ../src/initializeSolidPlatforms.m
+:header-args:matlab+: :comments none :mkdirp yes :eval no
+:END:
+<<sec:initializeSolidPlatforms>>
+
+This Matlab function is accessible [[file:../src/initializeSolidPlatforms.m][here]].
+
+*** Function description
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+function [stewart] = initializeSolidPlatforms(stewart, args)
+% initializeSolidPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
+%
+% Syntax: [stewart] = initializeSolidPlatforms(args)
+%
+% Inputs:
+%    - args - Structure with the following fields:
+%        - density [1x1] - Density of the platforms [kg]
+%
+% Outputs:
+%    - stewart - updated Stewart structure with the added fields:
+%      - platform_F [struct] - structure with the following fields:
+%        - type = 2
+%        - M [1x1] - Fixed Platform Density [kg/m^3]
+%      - platform_M [struct] - structure with the following fields:
+%        - type = 2
+%        - M [1x1] - Mobile Platform Density [kg/m^3]
+#+end_src
+
+*** Optional Parameters
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+arguments
+    stewart
+    args.density (1,1) double {mustBeNumeric, mustBePositive} = 7800
+end
+#+end_src
+
+*** Populate the =stewart= structure
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+stewart.platform_F.type = 2;
+
+stewart.platform_F.density = args.density;
+#+end_src
+
+#+begin_src matlab
+stewart.platform_M.type = 2;
+
+stewart.platform_M.density = args.density;
+#+end_src
+
 ** =initializeCylindricalStruts=: Define the inertia of cylindrical struts
 :PROPERTIES:
 :header-args:matlab+: :tangle ../src/initializeCylindricalStruts.m
@@ -1513,6 +1569,96 @@ Rotational Damping
 stewart.joints_M.step_file = args.step_file_M;
 #+end_src

+** TODO =initializeFlexibleStrutAndJointDynamics=: Model each strut with a flexible element
+:PROPERTIES:
+:header-args:matlab+: :tangle ../src/initializeFlexibleStrutAndJointDynamics.m
+:header-args:matlab+: :comments none :mkdirp yes :eval no
+:END:
+<<sec:initializeFlexibleStrutAndJointDynamics>>
+
+This Matlab function is accessible [[file:../src/initializeFlexibleStrutAndJointDynamics.m][here]].
+
+*** Function description
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+function [stewart] = initializeFlexibleStrutAndJointDynamics(stewart, args)
+% initializeFlexibleStrutAndJointDynamics - Add Stiffness and Damping properties of each strut
+%
+% Syntax: [stewart] = initializeFlexibleStrutAndJointDynamics(args)
+%
+% Inputs:
+%    - args - Structure with the following fields:
+%        - K [nxn] - Vertical stiffness contribution of the piezoelectric stack [N/m]
+%        - M [nxn] - Vertical damping contribution of the piezoelectric stack [N/(m/s)]
+%        - xi        [1x1] - Vertical (residual) stiffness when the piezoelectric stack is removed [N/m]
+%        - step_file [6x1] - Vertical (residual) damping when the piezoelectric stack is removed [N/(m/s)]
+%        - Gf [6x1] - Gain from strain in [m] to measured [N] such that it matches
+%
+% Outputs:
+%    - stewart - updated Stewart structure with the added fields:
+#+end_src
+
+*** Optional Parameters
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+arguments
+    stewart
+    args.K        double {mustBeNumeric} = zeros(6,6)
+    args.M        double {mustBeNumeric} = zeros(6,6)
+    args.H        double {mustBeNumeric} = 0
+    args.n_xyz    double {mustBeNumeric} = zeros(2,3)
+    args.xi       double {mustBeNumeric} = 0.1
+    args.Gf       double {mustBeNumeric} = 1
+    args.step_file char {} = ''
+end
+#+end_src
+
+*** Compute the axial offset
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+
+#+begin_src matlab
+stewart.actuators.ax_off = (stewart.geometry.l(1) - args.H)/2; % Axial Offset at the ends of the actuator
+#+end_src
+
+*** Populate the =stewart= structure
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+No discrete joints:
+#+begin_src matlab
+stewart.joints_F.type = 10;
+stewart.joints_M.type = 10;
+
+#+end_src
+
+No discrete struts:
+#+begin_src matlab
+stewart.struts_F.type = 3;
+stewart.struts_M.type = 3;
+#+end_src
+
+#+begin_src matlab
+stewart.actuators.type = 4;
+
+stewart.actuators.Km = args.K;
+stewart.actuators.Mm = args.M;
+
+stewart.actuators.n_xyz = args.n_xyz;
+stewart.actuators.xi = args.xi;
+
+stewart.actuators.step_file = args.step_file;
+
+stewart.actuators.K = args.K(3,3); % Axial Stiffness
+
+stewart.actuators.Gf = args.Gf;
+#+end_src
+
 ** =initializeInertialSensor=: Initialize the inertial sensor in each strut
 :PROPERTIES:
 :header-args:matlab+: :tangle ../src/initializeInertialSensor.m
--- a/simscape_subsystems/Fixed_Based.slx
+++ b/simscape_subsystems/Fixed_Based.slx
--- a/simscape_subsystems/Mobile_Platform.slx
+++ b/simscape_subsystems/Mobile_Platform.slx
--- a/simscape_subsystems/Stewart_Platform.slx
+++ b/simscape_subsystems/Stewart_Platform.slx
--- a/simscape_subsystems/stewart_strut.slx
+++ b/simscape_subsystems/stewart_strut.slx
--- a/src/initializeFlexibleStrutAndJointDynamics.m
+++ b/src/initializeFlexibleStrutAndJointDynamics.m
@@ -0,0 +1,48 @@
+function [stewart] = initializeFlexibleStrutAndJointDynamics(stewart, args)
+% initializeFlexibleStrutAndJointDynamics - Add Stiffness and Damping properties of each strut
+%
+% Syntax: [stewart] = initializeFlexibleStrutAndJointDynamics(args)
+%
+% Inputs:
+%    - args - Structure with the following fields:
+%        - K [nxn] - Vertical stiffness contribution of the piezoelectric stack [N/m]
+%        - M [nxn] - Vertical damping contribution of the piezoelectric stack [N/(m/s)]
+%        - xi        [1x1] - Vertical (residual) stiffness when the piezoelectric stack is removed [N/m]
+%        - step_file [6x1] - Vertical (residual) damping when the piezoelectric stack is removed [N/(m/s)]
+%        - Gf [6x1] - Gain from strain in [m] to measured [N] such that it matches
+%
+% Outputs:
+%    - stewart - updated Stewart structure with the added fields:
+
+arguments
+    stewart
+    args.K        double {mustBeNumeric} = zeros(6,6)
+    args.M        double {mustBeNumeric} = zeros(6,6)
+    args.H        double {mustBeNumeric} = 0
+    args.n_xyz    double {mustBeNumeric} = zeros(2,3)
+    args.xi       double {mustBeNumeric} = 0.1
+    args.Gf       double {mustBeNumeric} = 1
+    args.step_file char {} = ''
+end
+
+stewart.actuators.ax_off = (stewart.geometry.l(1) - args.H)/2; % Axial Offset at the ends of the actuator
+
+stewart.joints_F.type = 10;
+stewart.joints_M.type = 10;
+
+stewart.struts_F.type = 3;
+stewart.struts_M.type = 3;
+
+stewart.actuators.type = 4;
+
+stewart.actuators.Km = args.K;
+stewart.actuators.Mm = args.M;
+
+stewart.actuators.n_xyz = args.n_xyz;
+stewart.actuators.xi = args.xi;
+
+stewart.actuators.step_file = args.step_file;
+
+stewart.actuators.K = args.K(3,3); % Axial Stiffness
+
+stewart.actuators.Gf = args.Gf;
--- a/src/initializeSolidPlatforms.m
+++ b/src/initializeSolidPlatforms.m
@@ -0,0 +1,30 @@
+function [stewart] = initializeSolidPlatforms(stewart, args)
+% initializeSolidPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
+%
+% Syntax: [stewart] = initializeSolidPlatforms(args)
+%
+% Inputs:
+%    - args - Structure with the following fields:
+%        - density [1x1] - Density of the platforms [kg]
+%
+% Outputs:
+%    - stewart - updated Stewart structure with the added fields:
+%      - platform_F [struct] - structure with the following fields:
+%        - type = 2
+%        - M [1x1] - Fixed Platform Density [kg/m^3]
+%      - platform_M [struct] - structure with the following fields:
+%        - type = 2
+%        - M [1x1] - Mobile Platform Density [kg/m^3]
+
+arguments
+    stewart
+    args.density (1,1) double {mustBeNumeric, mustBePositive} = 7800
+end
+
+stewart.platform_F.type = 2;
+
+stewart.platform_F.density = args.density;
+
+stewart.platform_M.type = 2;
+
+stewart.platform_M.density = args.density;
Author	SHA1	Message	Date
Thomas Dehaeze	13c6750b15	upgrade bibliography	2024-09-25 15:18:35 +02:00
Thomas Dehaeze	ed0c18829b	Change all indentation	2021-01-08 15:54:58 +01:00
Thomas Dehaeze	f5922ca970	Delete local CS/JSS	2021-01-08 15:36:11 +01:00
Thomas Dehaeze	240d113062	Change CSS/JS location + publish all	2021-01-08 15:34:53 +01:00
Thomas Dehaeze	32330b92f0	Add functions to add platforms at .STEP files	2020-11-03 08:55:08 +01:00
Thomas Dehaeze	58cd2026dc	Add link to repository	2020-09-07 23:17:07 +02:00
Thomas Dehaeze	7fad722181	Add NASS webpage	2020-09-07 23:00:14 +02:00
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