Created a new directory with software from Quanser with updates/corrections for our setup.

software/quanser/setup_as.m → software/quanser_original/setup_as.m

-% SETUP_AS
-%
-% Active Suspension Control Lab: 
-% Design of a LQR active damping controller
-% 
-% SETUP_AS sets the model parameters and set the controller
-% parameters for the Quanser Active Suspension experiment.
-%
-% Copyright (C) 2013 Quanser Consulting Inc.
-% Quanser Consulting Inc.
-%
-
-clear all
-
-% ############### USER-DEFINED ACTIVE SUSPENSION CONFIGURATION ###############
-%CONTROL TYPE CAN BE SET TO 'AUTO' OR 'MANUAL'. 
-CONTROL_TYPE = 'AUTO';
-
-% ###############MODEL PARAMETERS###############
-
-ks = 900;% or 1040 Suspension Stiffness (N/m) 
-kt = 2500;% or 2300
-kus = kt;% Tire stiffness (N/m)
-ms = 2.45;% or 2.5 Sprung Mass (kg) 
-mu = 1;% or 1.150
-mus = mu;% Unsprung Mass (kg)
-bs = 7.5;% Suspension Inherent Damping coefficient (sec/m)
-bus = 5;% Tire Inhenrent Damping coefficient (sec/m)
-
-%Set the model parameters of the Active Suspension.
-%This section sets the A,B,C and D matrices for the Active Suspension model.
-
-A = [ 0 1 0 -1 ;
-    -ks/ms -bs/ms 0 bs/ms;
-    0 0 0 1;
-    ks/mu bs/mu -kt/mu -(bs+bus)/mu];
-B = [0  0 ; 0 1/ms ; -1  0 ; bus/mu -1/mu ];
-C = [ 1 0 0 0 ; -ks/ms -bs/ms 0 bs/ms ];
-D = zeros(6,2); D(6,2)=1/ms;
-    
-if strcmp(CONTROL_TYPE, 'AUTO')
-    Q = diag([450, 30, 5, 0.01]);
-    R = 0.01;
-    K = lqr( A, B(:,2), Q, R )
-elseif strcmp(CONTROL_TYPE, 'MANUAL')
-    disp( [ 'K = [' 0 ' N/m  '  0 ' N/m  ' 0 ' N.s/m  '  0 ' N.s/m'] )
-    disp( ' ' )
-    disp( 'STATUS: manual mode' ) 
-    disp( 'The model parameters of your Active Suspension system have been set.' )
-    disp( 'You can now design your state-feedback position controller.' )
-    disp( ' ' )
-else
-    error( 'Error: Please set the type of controller that you wish to implement.' )
-end
-
+% SETUP_AS
+%
+% Active Suspension Control Lab: 
+% Design of a LQR active damping controller
+% 
+% SETUP_AS sets the model parameters and set the controller
+% parameters for the Quanser Active Suspension experiment.
+%
+% Copyright (C) 2013 Quanser Consulting Inc.
+% Quanser Consulting Inc.
+%
+
+clear all
+
+% ############### USER-DEFINED ACTIVE SUSPENSION CONFIGURATION ###############
+%CONTROL TYPE CAN BE SET TO 'AUTO' OR 'MANUAL'. 
+CONTROL_TYPE = 'AUTO';
+
+% ###############MODEL PARAMETERS###############
+
+ks = 900;% or 1040 Suspension Stiffness (N/m) 
+kt = 2500;% or 2300
+kus = kt;% Tire stiffness (N/m)
+ms = 2.45;% or 2.5 Sprung Mass (kg) 
+mu = 1;% or 1.150
+mus = mu;% Unsprung Mass (kg)
+bs = 7.5;% Suspension Inherent Damping coefficient (sec/m)
+bus = 5;% Tire Inhenrent Damping coefficient (sec/m)
+
+%Set the model parameters of the Active Suspension.
+%This section sets the A,B,C and D matrices for the Active Suspension model.
+
+A = [ 0 1 0 -1 ;
+    -ks/ms -bs/ms 0 bs/ms;
+    0 0 0 1;
+    ks/mu bs/mu -kt/mu -(bs+bus)/mu];
+B = [0  0 ; 0 1/ms ; -1  0 ; bus/mu -1/mu ];
+C = [ 1 0 0 0 ; -ks/ms -bs/ms 0 bs/ms ];
+D = zeros(6,2); D(6,2)=1/ms;
+    
+if strcmp(CONTROL_TYPE, 'AUTO')
+    Q = diag([450, 30, 5, 0.01]);
+    R = 0.01;
+    K = lqr( A, B(:,2), Q, R )
+elseif strcmp(CONTROL_TYPE, 'MANUAL')
+    disp( [ 'K = [' 0 ' N/m  '  0 ' N/m  ' 0 ' N.s/m  '  0 ' N.s/m'] )
+    disp( ' ' )
+    disp( 'STATUS: manual mode' ) 
+    disp( 'The model parameters of your Active Suspension system have been set.' )
+    disp( 'You can now design your state-feedback position controller.' )
+    disp( ' ' )
+else
+    error( 'Error: Please set the type of controller that you wish to implement.' )
+end
+

software/quanser_updated/setup_as.m

+% SETUP_AS
+%
+% Active Suspension Control Lab: 
+% Design of a LQR active damping controller
+% 
+% SETUP_AS sets the model parameters and set the controller
+% parameters for the Quanser Active Suspension experiment.
+%
+% Copyright (C) 2013 Quanser Consulting Inc.
+% Quanser Consulting Inc.
+%
+
+clear all
+
+% ############### USER-DEFINED ACTIVE SUSPENSION CONFIGURATION ###############
+%CONTROL TYPE CAN BE SET TO 'AUTO' OR 'MANUAL'. 
+CONTROL_TYPE = 'AUTO';
+
+% ###############MODEL PARAMETERS###############
+
+ks = 900;% or 1040 Suspension Stiffness (N/m) 
+kt = 2500;% or 2300
+kus = kt;% Tire stiffness (N/m)
+ms = 2.45;% or 2.5 Sprung Mass (kg) 
+mu = 1;% or 1.150
+mus = mu;% Unsprung Mass (kg)
+bs = 7.5;% Suspension Inherent Damping coefficient (sec/m)
+bus = 5;% Tire Inhenrent Damping coefficient (sec/m)
+
+%Set the model parameters of the Active Suspension.
+%This section sets the A,B,C and D matrices for the Active Suspension model.
+
+A = [ 0 1 0 -1 ;
+    -ks/ms -bs/ms 0 bs/ms;
+    0 0 0 1;
+    ks/mu bs/mu -kt/mu -(bs+bus)/mu];
+B = [0  0 ; 0 1/ms ; -1  0 ; bus/mu -1/mu ];
+C = [ 1 0 0 0 ; -ks/ms -bs/ms 0 bs/ms ];
+D = zeros(6,2); D(6,2)=1/ms;
+    
+if strcmp(CONTROL_TYPE, 'AUTO')
+    Q = diag([450, 30, 5, 0.01]);
+    R = 0.01;
+    K = lqr( A, B(:,2), Q, R )
+elseif strcmp(CONTROL_TYPE, 'MANUAL')
+    disp( [ 'K = [' 0 ' N/m  '  0 ' N/m  ' 0 ' N.s/m  '  0 ' N.s/m'] )
+    disp( ' ' )
+    disp( 'STATUS: manual mode' ) 
+    disp( 'The model parameters of your Active Suspension system have been set.' )
+    disp( 'You can now design your state-feedback position controller.' )
+    disp( ' ' )
+else
+    error( 'Error: Please set the type of controller that you wish to implement.' )
+end
+