 
 
\section{Torque Commands}
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% TORQUE 800%%%%%%%%%%%%%%%%%%%%%%%%

%% 0.1 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/torque/pulse_t800_01_1.csv}\pulsetoitocentosumcsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
  \tikzsetnextfilename{Grafs-Second/torque800/_pulse_t800_01_1_force1}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsetoitocentosumcsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
      \begin{tikzpicture}
      \tikzsetnextfilename{Grafs-Second/torque800/_pulse_t800_01_1_angle}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsetoitocentosumcsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
     \tikzsetnextfilename{Grafs-Second/torque800/_pulse_t800_01_1_force2}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsetoitocentosumcsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 800 torque and 0.1 s duration.}
  \label{graphic:_pulse_t800_01_1}
  
\end{figure}

%% 0.25 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/torque/pulse_t800_025_1.csv}\pulsetoitocentosdoiscsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
  \tikzsetnextfilename{Grafs-Second/torque800/_pulse_t800_025_1_force1}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsetoitocentosdoiscsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-Second/torque800/_pulse_t800_025_1_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsetoitocentosdoiscsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
     \tikzsetnextfilename{Grafs-Second/torque800/_pulse_t800_025_1_force2}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsetoitocentosdoiscsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 800 torque and 0.25 s duration.}
  \label{graphic:_pulse_t800_025_1}
  
\end{figure}

%% 0.5 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/torque/pulse_t800_05_1.csv}\pulsetoitocentoscincocsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
  \tikzsetnextfilename{Grafs-Second/torque800/_pulse_t800_05_1_force1}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsetoitocentoscincocsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-Second/torque800/_pulse_t800_05_1_force1}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsetoitocentoscincocsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
     \tikzsetnextfilename{Grafs-Second/torque800/_pulse_t800_05_1_force2}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsetoitocentoscincocsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 800 torque and 0.5 s duration.}
  \label{graphic:_pulse_t800_05_1}
  
\end{figure}


% TORQUE 800%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% TORQUE 900%%%%%%%%%%%%%%%%%%%%%%%%

%% 0.1 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/torque/pulse_t900_01_1.csv}\pulsetnovecentosumcsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
      \begin{tikzpicture}
      \tikzsetnextfilename{Grafs-Second/torque900/_pulse_t900_01_1_force1}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsetnovecentosumcsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-Second/torque900/_pulse_t900_01_1_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsetnovecentosumcsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
     \tikzsetnextfilename{Grafs-Second/torque900/_pulse_t900_01_1_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsetnovecentosumcsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 900 torque and 0.1 s duration.}
  \label{graphic:_pulse_t900_01_1}
  
\end{figure}

%% 0.25 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/torque/pulse_t900_025_1.csv}\pulsetnovecentosdoiscsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
  \tikzsetnextfilename{Grafs-Second/torque900/_pulse_t800_025_1_force1}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsetnovecentosdoiscsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-Second/torque900/_pulse_t800_025_1_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsetnovecentosdoiscsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
     \tikzsetnextfilename{Grafs-Second/torque900/_pulse_t800_025_1_force2}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsetnovecentosdoiscsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 900 torque and 0.25 s duration.}
  \label{graphic:_pulse_t900_025_1}
  
\end{figure}

%% 0.5 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/torque/pulse_t900_05_1.csv}\pulsetnovecentoscincocsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
  \tikzsetnextfilename{Grafs-Second/torque900/_pulse_t800_05_1_force1}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsetnovecentoscincocsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-Second/torque900/_pulse_t800_05_1_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsetnovecentoscincocsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
     \tikzsetnextfilename{Grafs-Second/torque900/_pulse_t800_05_1_force2}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsetnovecentoscincocsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 900 torque and 0.5 s duration.}
  \label{graphic:_pulse_t900_05_1}
  
\end{figure}


% TORQUE 900%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% TORQUE 1022%%%%%%%%%%%%%%%%%%%%%%%%

%% 0.1 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/torque/pulse_t1022_01_1.csv}\pulsetmilumcsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
  \tikzsetnextfilename{Grafs-Second/torque1022/_pulse_t1022_01_1_force1}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsetmilumcsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-Second/torque1022/_pulse_t1022_01_1_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsetmilumcsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
     \tikzsetnextfilename{Grafs-Second/torque1022/_pulse_t1022_01_1_force2}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsetmilumcsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 1022 torque and 0.1 s duration.}
  \label{graphic:_pulse_t1022_01_1}
  
\end{figure}

%% 0.25 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/torque/pulse_t1022_025_1.csv}\pulsetmildoiscsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
  \tikzsetnextfilename{Grafs-Second/torque1022/_pulse_t1022_025_1_force1}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsetmildoiscsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-Second/torque1022/_pulse_t1022_025_1_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsetmildoiscsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
     \tikzsetnextfilename{Grafs-Second/torque1022/_pulse_t1022_025_1_force2}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsetmildoiscsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 1022 torque and 0.25 s duration.}
  \label{graphic:_pulse_t1022_025_1}
  
\end{figure}

%% 0.5 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/torque/pulse_t1022_05_1.csv}\pulsetmilcincocsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
  \tikzsetnextfilename{Grafs-Second/torque1022/_pulse_t1022_05_1_force1}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsetmilcincocsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-Second/torque1022/_pulse_t1022_05_1_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsetmilcincocsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
     \tikzsetnextfilename{Grafs-Second/torque1022/_pulse_t1022_05_1_force2}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsetmilcincocsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 1022 torque and 0.5 s duration.}
  \label{graphic:_pulse_t1022_05_1}
  
\end{figure}

% TORQUE 1022%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


\section{Velocity Commands}
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% VEL 800%%%%%%%%%%%%%%%%%%%%%%%%

%% 0.1 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/vel/pulse_v800_01_1.csv}\pulsevoitocentosumcsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
  \tikzsetnextfilename{Grafs-Second/vel800/_pulse_v800_01_1_force1}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsevoitocentosumcsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-Second/vel800/_pulse_v800_01_1_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsevoitocentosumcsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsevoitocentosumcsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 800 velocity and 0.1 s duration.}
  \label{graphic:_pulse_v800_01_1}
  
\end{figure}

%% 0.25 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/vel/pulse_v800_025_1.csv}\pulsevoitocentosdoiscsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsevoitocentosdoiscsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsevoitocentosdoiscsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsevoitocentosdoiscsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 800 velocity and 0.25 s duration.}
  \label{graphic:_pulse_v800_025_1}
  
\end{figure}

%% 0.5 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/vel/pulse_v800_05_1.csv}\pulsevoitocentoscincocsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsevoitocentoscincocsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsevoitocentoscincocsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsevoitocentoscincocsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 800 velocity and 0.5 s duration.}
  \label{graphic:_pulse_v800_05_1}
  
\end{figure}

% VEL 800%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% VEL 900%%%%%%%%%%%%%%%%%%%%%%%%

%% 0.1 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/vel/pulse_v900_01_1.csv}\pulsevnovecentosumcsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsevnovecentosumcsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsevnovecentosumcsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsevnovecentosumcsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 900 velocity and 0.1 s duration.}
  \label{graphic:_pulse_v900_01_1}
  
\end{figure}

%% 0.25 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/vel/pulse_v900_025_1.csv}\pulsevnovecentosdoiscsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsevnovecentosdoiscsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsevnovecentosdoiscsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsevnovecentosdoiscsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 900 velocity and 0.25 s duration.}
  \label{graphic:_pulse_v900_025_1}
  
\end{figure}

%% 0.5 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/vel/pulse_v900_05_1.csv}\pulsevnovecentoscincocsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsevnovecentoscincocsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsevnovecentoscincocsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsevnovecentoscincocsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 900 velocity and 0.5 s duration.}
  \label{graphic:_pulse_v900_05_1}
  
\end{figure}

% VEL 900%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% VEL 900%%%%%%%%%%%%%%%%%%%%%%%%

%% 0.1 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/vel/pulse_v1022_01_1.csv}\pulsevmilumcsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsevmilumcsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsevmilumcsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsevmilumcsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 1022 velocity and 0.1 s duration.}
  \label{graphic:_pulse_v1022_01_1}
  
\end{figure}

%% 0.25 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/vel/pulse_v1022_025_1.csv}\pulsevmildoiscsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsevmildoiscsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsevmildoiscsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsevmildoiscsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 1022 velocity and 0.25 s duration.}
  \label{graphic:_pulse_v1022_025_1}
  
\end{figure}

%% 0.5 DURATION
\begin{figure}[!htb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/vel/pulse_v1022_05_1.csv}\pulsevmilcincocsv
  
  \subfloat[Tensile Force 1, actuating cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {1}]{\pulsevmilcincocsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {2}]{\pulsevmilcincocsv}; 
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
     \subfloat[Tensile Force 2, passive cable.]{
      \begin{tikzpicture}
	\begin{axis}[
	  width=0.3\textwidth,
	  height=0.3\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  %ylabel style={overlay, anchor=north,},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, thick] table[x index = {0}, y index = {3}]{\pulsevmilcincocsv};
	\end{axis}
      \end{tikzpicture}
      %\label{subfigure:step_angle}
} %subfloat
  
  \caption{Pulse with 1022 velocity and 0.5 s duration.}
  \label{graphic:_pulse_v1022_05_1}
  
\end{figure}

% VEL 1022%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%




