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| <h1 align="left">Home of ShapeIt</h1>
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| <h2 align="left">ShapeIt is a dedicated loopshaping tool for motion systems.</h2>
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| <p>ShapeIt is designed for Matlab. Here are some screenshots (click to enlarge):</p>
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| [[File:Shapeit-screendump-1.jpg|200px]]
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| [[File:Shapeit-screendump-2.jpg|200px]]
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| [[File:Shapeit-screendump-3.jpg|336px]]
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| [[File:Shapeit-screendump-4.jpg|225px]]
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| <h3 align="left">Requirements</h3>
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| <p align="left">
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| <ul type="circle">
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| <li> Matlab 7.04 or newer</li>
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| <li> Control System Toolbox</li>
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| <li> C-compiler (Matlab LCC, gcc, or any other compiler)</li>
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| <li> To use the optimization: Global Optimization Toolbox (from R2010a onwards) / Genetic Algorithm Direct Search Toolbox (up to R2009b)</li>
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| </ul>
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| </p>
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| <h3 align="left">Download</h3>
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| <p>The current version is <b>v0.14</b>.</p>
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| <table border=1 cellpadding=4 cellspacing=1>
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| <tr bgcolor=#dddddd>
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| <td><p>Release v0.12</p></td>
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| <td><p>Release v0.13</p></td>
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| <td><p><b>Release v0.14</b></p></td>
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| </tr>
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| <tr>
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| <td><p>Full version:*<br>[[Media:Shapeit v0.12 mfiles.zip|ShapeIt_v0.12]]</p></td>
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| <td><p>Full version:*<br>[[Media:Shapeit v0.13 mfiles.zip|ShapeIt_v0.13]]</p></td>
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| <td><p>Full version:*<br><b>[[Media:Shapeit v0.14 mfiles.zip|ShapeIt_v0.14]]</b></p></td>
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| </tr>
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| <tr>
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| <td><p>Educational version:**<br>[[Media:Shapeit student version v0.12.zip|ShapeIt_student_version_v0.12]]</p></td>
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| <td><p>Educational version:**<br>[[Media:Shapeit student version v0.13.zip|ShapeIt_student_version_v0.13]]</p></td>
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| <td><p>Educational version:**<br><b>[[Media:Shapeit student version v0.14.zip|ShapeIt_student_version_v0.14]]</b></p></td>
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| </tr>
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| <tr>
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| <td valign="top"><p>Some important changes:
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| <ul type="circle">
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| <li>compatible with Matlab FRD objects</li>
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| <li>improved computation of unwrapped phase</li>
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| <li>improved margin computations</li>
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| <li>unit disc (0dB) in Nyquist plot</li>
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| <li>wrapping of Nichols chart possible</li>
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| <li>improved controller discretization</li>
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| <li>small bug-fixes</li>
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| </ul></p>
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| </td>
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| <td valign="top"><p>Some important changes:
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| <ul type="circle">
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| <li>improved labels for data cursors in all plots</li>
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| <li>frequency data available in Nyquist and Nichols data cursor</li>
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| <li>loading plants from file improved</li>
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| <li>better usability of data-loading functionality</li>
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| <li>better looks when used on Linux platforms</li>
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| </ul></p>
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| </td>
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| <td valign="top"><p>Some important changes:
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| <ul type="circle">
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| <li>added extra 4th order example plant with adjustable parameters</li>
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| <li>updated DCTools for compatibility with dSpace</li>
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| <li>solved occasional stability-issue for discretized controller</li>
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| <li>minor adjustments for plants with many RHP zeros and/or poles</li>
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| <li>minor bug-fixes</li>
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| </ul></p>
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| </td>
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| </tr>
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| </table>
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| <p><i>* Full version contains optimization aid based on genetic programming:
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| <ul type="circle">
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| <li> contact the program maintainer if you want to try it (file is password protected for educational reasons) </li>
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| <li> requires the "Global Optimization Toolbox" (formerly known as "Genetic Algorithm Direct Search Toolbox")</li>
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| </ul></i></p>
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| <p><i>** Educational version has no optimization aid.</i></p>
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|
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| <h3 align="left">Installation</h3>
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| <ul type="circle">
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| <li>
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| Unzip files into a directory e.g. <tt>C:\Program Files\matlab704\toolbox\shapeit</tt></li>
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| <li>
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| Goto this directory in Matlab and run: <tt>shapeit_setup_runonce</tt> </li>
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| <li>
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| Installation is ready now, the application can be started by running: <tt>shapeit</tt> </li>
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| </ul>
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| <p>If you have any trouble installing or using ShapeIt, <b>please read the <a href="faq_of_shapeit.htm">FAQ</a> first.</b></p>
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| <h3 align="left">Feedback</h3>
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| <p align="left">Please send bugs, problems, suggestions for future releases etc. to [mailto:G.Witvoet@tue.nl Gert Witvoet].</p>
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| <h3 align="left">Copyright</h3>
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| <p align="left">Copyright © 2005-2012 DJH Bruijnen, G Witvoet; Control Systems Technology, Eindhoven University of Technology</p>
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| <p align="left">This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.<br>
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| This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the [http://www.gnu.org/copyleft/gpl.html GNU General Public License] for more details.</p>
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