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