Adimensional dynamics of a 2-dof CDPM and stiction analysis

MAIN_Compare_Normalized_Dimensional.m: provides both dimensional and non-dimensional analyses of the dynamics of a 2-DOF CDPM, including cable elasticity, an advanced static friction model, and the cable pretension state. MAIN_Comparison_Lugre_Dahl.m: compares the LuGre and Dahl friction models, showing little difference between them, but clearly visualizing the strong hysteresis in the dynamics Main_ComparaSetups.m: for 9 different setups, show their parameters, both in physical values and in p.u. The p.u. values show less dispersion. Main_Test_different_PID_tuning.m and Main_Test_different_PID_tuning_Show.m: launch 6 scripts, each one generated by a different AI (DeepSeek, Chatgpt...). The aim is to obtain the PID controller which optimizes the performance in a pretension task. Doing it with dimensionless formulation, the results are quite better.