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better observer

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This commit is contained in:
zamofing_t
2018-11-13 15:29:20 +01:00
parent 1e676bcd18
commit 7e867b9316
7 changed files with 58 additions and 10 deletions
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25
matlab/Readme.md
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@@ -3,7 +3,7 @@ Matlab Simulink start
```
[gfa-lc6-64 ~]
[-bash INSTBASE=/prod]$
cd /afs/psi.ch/user/z/zamofing_t/ESB-MX/
cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/matlab
module load matlab/2018a
matlab&
or start directly: /afs/psi.ch/sys/psi.x86_64_slp6/Programming/matlab/2018a/bin/matlab&
@@ -31,6 +31,29 @@ close all;
[pb]=simFxFyStage(mot2);
[ssc]=StateSpaceControlDesign(mot2);
Very good trajectory-filter motor2:
f=268;w0=f*2*pi;
num1=[1 20 w0^2];
den1=[1 500 w0^2];
bode(numV,denV)
f=140;w0=f*2*pi;
num2=[1 300 w0^2];
den2=[1 100 w0^2];
bode(numV,denV)
f=62;w0=f*2*pi;
num3=[1 40 w0^2];
den3=[1 20 w0^2];
bode(numV,denV)
numV=conv(num1,num2)
denV=conv(den1,den2)
%numV=conv(conv(num1,num2),num3)
%denV=conv(conv(den1,den2),den3)
```