37 lines
770 B
Matlab
37 lines
770 B
Matlab
%%
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clear; close all; clc;
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%% Load the transfer functions
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load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%%
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s = tf('s');
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%% Light Voice Coil
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%sisotool(-G_light_vc.G_iff('Fm1', 'F1')/s);
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K_iff_light_vc = 105/s*tf(eye(6));
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%% Light Piezo
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%sisotool(-G_light_pz.G_iff('Fm1', 'F1')/s);
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K_iff_light_pz = 3300/s*tf(eye(6));
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%% Heavy Voice Coil
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%sisotool(-G_heavy_vc.G_iff('Fm1', 'F1')/s);
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K_iff_heavy_vc = 22.7/s*tf(eye(6));
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%% Heavy Piezo
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%sisotool(-G_heavy_pz.G_iff('Fm1', 'F1')/s);
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K_iff_heavy_pz = 720/s*tf(eye(6));
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%% Save Controllers
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save('./mat/K_iff_sisotool.mat', ...
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'K_iff_light_vc', 'K_iff_light_pz', ...
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'K_iff_heavy_vc', 'K_iff_heavy_pz');
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