first running observer with new data

matlab/bodeSamples.m

@@ -0,0 +1,32 @@
+
+function [fig]=bodeSamples(simData)
+  %f=figure(); h=plot(simData.Time,simData.Data,'g');
+  %set(h(1),'color','b'); set(h(2),'color',[0 0.5 0]);
+  Ts=1/5000; % sampling period
+  t=0:Ts:simData.Time(end);
+  posI=interp1(simData.Time,simData.Data(:,1),t);
+  posO=interp1(simData.Time,simData.Data(:,2),t);
+  ftI=fft(posI);
+  ftO=fft(posO);
+  tf=ftO./ftI;
+
+  L=length(t);
+  k=(L-1)*Ts; % fmax =1/Ts at sample (L-1)/2 (index0-base)
+  N=[10 220]*k; % number of relevant indexes (index0-base)
+  frq=(N(1):N(2))/k;
+  N=N+1;%index0-base -> index1-base
+  tfn=tf(N(1):N(2));
+
+  %fig=figure(); h=plot(abs(ftI));
+  %fig=figure(); h=plot(abs(ftO));
+  %fig=figure(); h=plot(abs(ftI(N(1):N(2))));
+  fig=figure();
+  ax1=subplot(2,1,1);
+  ax2=subplot(2,1,2);
+  h=plot(ax1,frq,abs(tfn));
+  p=unwrap(phase(tfn))/(2*pi)*360;
+  h=plot(ax2,frq,p);
+  grid(ax1,'on');grid(ax2,'on');
+  set(ax1, 'XScale', 'log');
+  set(ax2, 'XScale', 'log');
+end

matlab/documentFunctions.m

@@ -1,39 +1,68 @@
 
-baseDir='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuningDoc/';
-%plots bode of desPos_actPos
-[mot1,mot2]=identifyFxFyStage();
-close all;
-[pb]=simFxFyStage(mot2);sim('stage_closed_loop');
-t=desPos_actPos.Time;
-u=desPos_actPos.Data(:,1);
-y=desPos_actPos.Data(:,2);
-figure(1);
-clf;
-plot(t,u,'b');hold on;
-plot(t,y,'color',[0 .5 0]);
-grid on;ylim([-4 4]);
-grid on;ylim([-2 2]);
-saveas(gca, baseDir+"m2_sim_pb.eps",'epsc');
-saveas(gca, baseDir+"m1_sim_ss.eps",'epsc');
-saveas(gca, baseDir+"m2_sim_ss.eps",'epsc');
-saveas(gca, baseDir+"m1_sim_ss_pref.eps",'epsc');
-saveas(gca, baseDir+"m2_sim_ss_pref.eps",'epsc');
+baseDir='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/matlab/figures';
+
+clear;clear global;
+close all;disp('löoad identification data...');
+mot=identifyFxFyStage(7);
+
+close all;disp('simulate stage closed loop...');
+for k =1:2 
+  [pb]=simFxFyStage(mot{k});sim('stage_closed_loop');
+  f=figure(); h=plot(desPos_actPos.Time,desPos_actPos.Data,'g');
+  set(h(1),'color','b'); set(h(2),'color',[0 0.5 0]);
+  print(f,sprintf('figures/sim_cl_DTGz_%d',mot{k}.id),'-depsc');
+  f=bodeSamples(desPos_actPos);
+  print(f,sprintf('figures/sim_cl_DTGz_bode%d',mot{k}.id),'-depsc');
+end
+
+close all;disp('simulate observer...');
+for k =1:2
+  [ssc]=StateSpaceControlDesign(mot{k});sim('observer');
+  f=figure(); h=plot(desPos_actPos.Time,desPos_actPos.Data,'g');
+  set(h(1),'color','b'); set(h(2),'color',[0 0.5 0]);
+  print(f,sprintf('figures/sim_cl_observer_%d',mot{k}.id),'-depsc');
+  f=bodeSamples(desPos_actPos);
+  print(f,sprintf('figures/sim_cl_observer_bode%d',mot{k}.id),'-depsc');
+end
+disp('document figure generation done');close all;
+
+function SCRATCH()
+  %plots bode of desPos_actPos
+  [mot1,mot2]=identifyFxFyStage();
+  close all;
+  [pb]=simFxFyStage(mot2);sim('stage_closed_loop');
 
 
-saveas(gca, baseDir+"m2_mdl_bode.eps",'epsc');
+  t=desPos_actPos.Time;
+  u=desPos_actPos.Data(:,1);
+  y=desPos_actPos.Data(:,2);
+  figure(1);
+  clf;
+  plot(t,u,'b');hold on;
+  plot(t,y,'color',[0 .5 0]);
+  grid on;ylim([-4 4]);
+  grid on;ylim([-2 2]);
+  saveas(gca, baseDir+"m2_sim_pb.eps",'epsc');
+  saveas(gca, baseDir+"m1_sim_ss.eps",'epsc');
+  saveas(gca, baseDir+"m2_sim_ss.eps",'epsc');
+  saveas(gca, baseDir+"m1_sim_ss_pref.eps",'epsc');
+  saveas(gca, baseDir+"m2_sim_ss_pref.eps",'epsc');
 
-minFrq=1;maxFrq=1000;
-tSec=t(length(t));
-f=(1:length(t))/tSec;
-fu=fft(u);
-fy=fft(y);
-ph=phase(fy./fu)
-mag=abs(fy)./abs(fu);
-magDb=20*log10(mag);
-figure(2);
-subplot(2,1,1);
-semilogx(f,magDb);
-subplot(2,1,2);
-semilogx(f,ph);
-grid on;
 
+  saveas(gca, baseDir+"m2_mdl_bode.eps",'epsc');
+
+  minFrq=1;maxFrq=1000;
+  tSec=t(length(t));
+  f=(1:length(t))/tSec;
+  fu=fft(u);
+  fy=fft(y);
+  ph=phase(fy./fu)
+  mag=abs(fy)./abs(fu);
+  magDb=20*log10(mag);
+  figure(2);
+  subplot(2,1,1);
+  semilogx(f,magDb);
+  subplot(2,1,2);
+  semilogx(f,ph);
+  grid on;
+end