add security based on output

matlab/run_batch_identification.m

@@ -0,0 +1,51 @@
+%% First make sure the model is open, and we are connected to the
+% Speedgoat Machine.
+
+%% Run Multiple Simulations
+my_model = 'iff_measure';
+tg = slrt;
+
+%% For each strut
+for i_leg = 1:6
+    %% Get excitation strut
+    p = Simulink.Mask.get([my_model, '/Subsystem7']);
+    p.Parameters.Value = sprintf('%i', i_leg);
+    
+    %% Connect
+    set_param(my_model,'SimulationCommand','connect')
+
+    %% Run the simulation
+    sprintf('Start excitation for strut %i', i_leg)
+    set_param(my_model,'SimulationCommand','start')
+    
+    %% Wait for the simulation to finish
+    pause(1)
+    while strcmp(get_param(my_model,'SimulationStatus'), 'external')
+        pause(1)
+    end
+    sprintf('Finished excitation for strut %i', i_leg)
+
+    %% Disconnect
+    set_param(my_model,'SimulationCommand','disconnect')
+
+    %% Save the data
+    f = SimulinkRealTime.openFTP(tg);
+    mget(f, 'data/data.dat');
+    close(f);
+    data = SimulinkRealTime.utils.getFileScopeData('data/data.dat').data;
+
+    de = data(:, 1:6);   % Measurment displacement (encoder) [m]
+    Vs = data(:, 7:12);  % Force Sensor [V]
+    u  = data(:, 13:18); % Control Output [V]
+    Va = data(:, 19);    % Excitation Signal [V]
+%     Rx = data(:, 20:25); % Reference Signal [m/rad]
+    t  = data(:, end);   % Time [s]
+    
+    load('sim_data/data_sim.mat', 'Ts'); % To save Sampling Period
+    save('sim_data/Kiff.mat', 'Kiff'); % To save Controller
+    
+    save(sprintf('mat/frf_data_exc_strut_%i_iff_vib_table_0m.mat', i_leg), ...
+        't', 'Ts', 'de', 'Vs', 'u', 'Va', 'Kiff');
+
+    sprintf('Saved Data for strut %i', i_leg)
+end