test-bench-nano-hexapod/matlab/iff_setup.m

19 lines
536 B
Matlab

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