2021-06-10 11:38:37 +02:00
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run('identif_setup.m');
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%%
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Kiff_g1 = (1/(s + 2*pi*40))*... % Low pass filter (provides integral action above 40Hz)
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(s/(s + 2*pi*30))*... % High pass filter to limit low frequency gain
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(1/(1 + s/2/pi/500))*... % Low pass filter to be more robust to high frequency resonances
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eye(6); % Diagonal 6x6 controller
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Kiff = c2d(Kiff_g1, Ts, 'tustin');
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%%
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2021-06-10 14:17:06 +02:00
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save('./frf_data.mat', 'Fs', ...
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'Ts', ...
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'Tsim', ...
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'Trec_start', ...
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'Trec_dur', ...
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'V_exc', ...
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'V_off', ...
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'Kiff');
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