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geez0x1 / CompliantJointToolbox

Compliant Joint Toolbox (CJT) for MATLAB and Simulink
GNU General Public License v3.0
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Nonlinear torques are not added in the right way in the state-space structure #35

Closed VishnuDevA7 closed 7 years ago

VishnuDevA7 commented 7 years ago

The torques from the nonlinear model has to be multiplied with a suitable gain matrix in order to be added to the states

geez0x1 commented 7 years ago

Nice find :) Fixed in 40d092765bcdc5090b6f07a8eecda801c9a2974c by (ab)using the B matrix inside the block (which saves generating a properly-dimensioned matrix):

B(:,1) / (k_t * n)

geez0x1 commented 7 years ago

I just realised my fix is incomplete. Let me work on it some more.

geez0x1 commented 7 years ago

Correct fix in 07557ad. Building B_nonlinear in the block mask as follows: B_nonlinear = [zeros([size(I,1),1]); 1./diag(I)]; which changes size depending on the size of I and thus on the chosen model.

geez0x1 commented 7 years ago

@VishnuDevA7 Can you confirm this is fixed for you?

VishnuDevA7 commented 7 years ago

Yes, its fixed :)