Update model and weightsHEADmaster

6 files changed, 21 insertions, 23 deletions

diff --git a/uav.m b/uav.m
index 4155e93..ac766bb 100644
--- a/uav.m
+++ b/uav.m
@@ -9,7 +9,7 @@
 clear; clc; close all; s = tf('s');
 
 do_plots = true; % runs faster without
-do_hinf = false;
+do_hinf = true;
 do_musyn = true;
 
 fprintf('Controller synthesis for ducted fan VTOL micro-UAV\n')
@@ -80,7 +80,7 @@ if do_hinf
   );
 
   ctrl.hinf = struct( ...
-    'Name', '$\mathcal{H}_{\infty}$', ...
+    'Name', 'Nominal $\mathcal{H}_{\infty}$', ...
     'K', K_inf, ...
     'index', index ...
   );
@@ -142,7 +142,7 @@ drawnow;
 
 if do_musyn
   fprintf('Generating system model for mu-synthesis design...\n');
-  model = uav_model(params, perf_musyn, uncert);
+  model = uav_model(params, perf_hinf, uncert);
 
   fprintf('Performing mu-synthesis controller design...\n')
 
@@ -175,7 +175,7 @@ if do_musyn
   d_scales_max_degree = 5;
   d_scales_max_err = 15;
   d_scales_max_err_p = .05; % in percentage
-  d_scales_improvement_p = .25; % in percentage, avoid diminishing returns
+  d_scales_improvement_p = .1; % in percentage, avoid diminishing returns
 
   % Limit order of scaled plant
   scaled_plant_reduce_ord = 100;
@@ -208,7 +208,7 @@ if do_musyn
   % according to parameters given above
   d_scales_degrees = {
       0,   0,   0,   0,   0, inf, inf; % alpha
-      5,   1, inf, inf, inf, inf, inf; % omega
+      3, inf, inf, inf, inf, inf, inf; % omega
       0,   0,   0,   0,   0, inf, inf; % state
       0,   0,   0,   0,   0, inf, inf; % perf
   };
@@ -346,10 +346,6 @@ if do_musyn
       error('Failed to synethesize H-infinity controller');
     end
 
-     if it == 1
-       K_hinf = K;
-     end
-
     % Calculate frequency response of closed loop
     N = minreal(lft(P, K), [], false);
     M = minreal(N(idx.OutputUncertain, idx.InputUncertain), [], false);
@@ -623,8 +619,6 @@ if do_musyn
   Delta = Delta / norm(Delta, inf);
 
   % Save controllers
-  ctrl.hinf = struct('Name', '$\mathcal{H}_{\infty}$', 'K', K_hinf);
-
   ctrl.musyn = struct('Name', '$\mu$-Synthesis', ...
                       'K', K, 'Delta', Delta, ...
                       'mu_rp', mu_rp, 'mu_rs', mu_rs);
@@ -696,6 +690,6 @@ if do_musyn
 
   uncert.Delta = ctrl.musyn.Delta;
   simout = uav_sim_step(params, model, ctrl.musyn, uncert, nsamples, T, do_plots, do_noise);
-  simout = uav_sim_step(params, model, ctrl.hinf, uncert, nsamples, 5, do_plots, do_noise);
+  simout = uav_sim_step(params, model, ctrl.hinf, uncert, nsamples, T, do_plots, do_noise);
   uncert = rmfield(uncert, 'Delta');
 end
diff --git a/uav_model.m b/uav_model.m
index af0be20..c2d588d 100644
--- a/uav_model.m
+++ b/uav_model.m
@@ -9,8 +9,7 @@
 %    principles (equations of motion).
 %
 %  * A linear model obtained by linearizing the the non linear plant model at
-%    an operating point specified in the params struct argument. And adding
-%    models for the actuators.
+%    an operating point specified in the params struct argument.
 %
 %  * A uncertain linear model with reference trcking built atop of the linear
 %    model using SIMULINK. The uncertain model contains the performance and
@@ -276,7 +275,7 @@ sys = pade(ss(A, B, C, D, 'OutputDelay', T), n);
 % sys = ss(A, B, C, D);
 
 % Add actuators
-sys = sys * model.actuators.StateSpace;
+% sys = sys * model.actuators.StateSpace;
 
 % Remove unnecessary states
 sys = minreal(sys, [], false); % slient
diff --git a/uav_model_uncertain.slx b/uav_model_uncertain.slx
index 4d6074a..28fea4a 100644
--- a/uav_model_uncertain.slx
+++ b/uav_model_uncertain.slx
diff --git a/uav_model_uncertain_clp.slx b/uav_model_uncertain_clp.slx
index 46ee9d2..949b2e2 100644
--- a/uav_model_uncertain_clp.slx
+++ b/uav_model_uncertain_clp.slx
diff --git a/uav_params.m b/uav_params.m
index 8963b02..8c73ae9 100644
--- a/uav_params.m
+++ b/uav_params.m
@@ -88,13 +88,13 @@ k_T = F_max / omega_max^2;
 % https://scienceworld.wolfram.com/physics/LiftCoefficient.html
 params.aerodynamics = struct(...
   'ThrustOmegaProp', k_T, ... % in s^2 / (rad * N)
-  'ThrustOmegaPropUncertainty', .05, ... % in %
+  'ThrustOmegaPropUncertainty', .01, ... % in %
   'FlapArea', 23e-3 * 10e-3, ... % in m^2
   'FlapAreaUncertainty', .1, ... % in %
   'DragCoefficients', [0, 0], ... % TODO
   'DragCoefficientsUncertainties', [.0, .0], ... % in %
   'LiftCoefficient', 2 * pi, ... % TODO
-  'LiftCoefficientUncertainty', .05 ...% in %
+  'LiftCoefficientUncertainty', .01 ...% in %
 );
 
 
diff --git a/uav_sim_step.m b/uav_sim_step.m
index 7bf0f2b..d7facbf 100644
--- a/uav_sim_step.m
+++ b/uav_sim_step.m
@@ -146,11 +146,16 @@ if do_plots
   to_deg = 180 / pi; % radians to degrees
   to_rpm = pi / 30; % rad / s to RPM
 
+  delta = '';
+  if isfield(uncert, 'Delta')
+    delta = 'with $\Delta$';
+  end
+
   % Figure for flaps and Euler angles
   figure;
   sgtitle(sprintf(...
-    '\\bfseries Step Response of Flap and Euler Angles (%s)', ...
-    ctrl.Name), 'Interpreter', 'latex');
+    '\\bfseries Step Response of Flap and Euler Angles (%s) %s', ...
+    ctrl.Name, delta), 'Interpreter', 'latex');
 
   % Plot limits
   alpha_max_deg = params.actuators.ServoAbsMaxAngle * to_deg;
@@ -256,8 +261,8 @@ if do_plots
   % Plot step response from z to omega
   figure;
   sgtitle(sprintf(...
-    '\\bfseries Step Response to Propeller (%s)', ...
-    ctrl.Name), 'Interpreter', 'latex');
+    '\\bfseries Step Response to Propeller (%s) %s', ...
+    ctrl.Name, delta), 'Interpreter', 'latex');
 
   hold on;
   step(P_clp(idx.PlotOmega, idx.InputReference(3)) * to_rpm, T);
@@ -273,8 +278,8 @@ if do_plots
   % Figure for position and velocity
   figure;
   sgtitle(sprintf(...
-    '\\bfseries Step Response of Position and Speed (%s)', ...
-    ctrl.Name), 'Interpreter', 'latex');
+    '\\bfseries Step Response of Position and Speed (%s) %s', ...
+    ctrl.Name, delta), 'Interpreter', 'latex');
 
   % Plot step response from horizontal reference to horizontal position
   subplot(2, 2, 1); hold on;