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%  Matlab file to set up the open loop system id stuff
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%  set up the matrices for constructing the states
%  this is for the ECP Simulink program
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  get_positions = [1 0 0 0 0; 
                   0 1 0 0 0; 
                   0 0 1 0 0];
  get_angles = [0 0 0 1 0];
  get_error_bit = [0 0 0 0 1];
  get_all_states = [1 0 0 0 0 0 0 0; 
                    0 0 0 1 0 0 0 0; 
                    0 1 0 0 0 0 0 0; 
                    0 0 0 0 1 0 0 0; 
                    0 0 1 0 0 0 0 0; 
                    0 0 0 0 0 1 0 0; 
                    0 0 0 0 0 0 1 0; 
                    0 0 0 0 0 0 0 1];
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 % this is the only part you should ever have to change
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 get_desired_states = [1 0 0 0 0 0 0 0; 
                       0 1 0 0 0 0 0 0];
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%  set the sampling time
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  Ts = 0.05;
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%  set the step amplitude and final time
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  Amp = 0.1; % desired final position, in cm
  Amp = 1*pi/180; % desired final position, in rad
  Tf = 10.0;  % seconds
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