Prepare structure for endterm

4 files changed, 82 insertions, 60 deletions

diff --git a/uav.m b/uav.m
index e5f49b2..c646de2 100644
--- a/uav.m
+++ b/uav.m
@@ -12,39 +12,27 @@ fprintf('Generating system parameters...\n')
 params = uav_params();
 ctrl = struct();
 
+% Flags to speed up running for debugging
 do_plots = true;
+do_lqr = false; % unused
+do_hinf = false; % midterm
+do_musyn = true; % endterm
 
 % ------------------------------------------------------------------------
 %% Define performance requirements
 
-fprintf('Generating performance requirements...\n')
-perf = uav_requirements(params, do_plots);
+if do_hinf | do_musyn
+  fprintf('Generating performance requirements...\n')
+  perf = uav_performance(params, do_plots);
+end
 
 %  ------------------------------------------------------------------------
 %% Define stability requirements
 
-W_malpha = tf(1,1);
-W_momega = tf(1,1);
-W_mState = tf(1,1);
-
-% if do_plots
-%   figure; hold on;
-%
-%   bodemag(W_malpha);
-%   bodemag(W_momega);
-%   bodemag(W_mState);
-%
-%   grid on;
-%   legend('$W_{m,\alpha}$', '$W_{m,\omega}$', ...
-%     '$W_{m,\Theta}$', '$W_{m,\Omega}$', ...
-%     'Interpreter', 'latex', 'fontSize', 8);
-%   title('Uncertainties')
-% end
-
-uncert = struct(...
-  'FlapAngle', W_malpha * eye(4), ...
-  'Thrust', W_momega, ...
-  'StateLinApprox', W_mState * eye(12));
+if do_musyn
+  fprintf('Generating stability requirements...\n')
+  uncert = uav_uncertainty(params, do_plots);
+end
 
 % ------------------------------------------------------------------------
 %% Create UAV model
@@ -55,52 +43,61 @@ model = uav_model(params, perf, uncert);
 % ------------------------------------------------------------------------
 %% Perform LQR design
 
-% fprintf('Performing LQR controller design...\n')
-% ctrl.lqr = uav_ctrl_lqr(params, model);
+if do_lqr
+  fprintf('Performing LQR controller design...\n')
+  ctrl.lqr = uav_ctrl_lqr(params, model);
+end
 
 % ------------------------------------------------------------------------
 %% Perform H-infinity design
 
-fprintf('Performing H-infinty controller design...\n')
+if do_hinf
+  fprintf('Performing H-infinty controller design...\n')
 
-idx = model.uncertain.index;
-P = model.uncertain.StateSpace;
+  idx = model.uncertain.index;
+  P = model.uncertain.StateSpace;
 
-% Get nominal system without uncertainty (for lower LFT)
-P_nom = minreal(P([idx.OutputError; idx.OutputNominal], ...
-                  [idx.InputExogenous; idx.InputNominal]));
+  % Get nominal system without uncertainty (for lower LFT)
+  P_nom = minreal(P([idx.OutputError; idx.OutputNominal], ...
+                    [idx.InputExogenous; idx.InputNominal]));
 
-nmeas = max(size(idx.OutputNominal)); % size of y
-nctrl = max(size(idx.InputNominal)); % size of u
+  nmeas = max(size(idx.OutputNominal)); % size of y
+  nctrl = max(size(idx.InputNominal)); % size of u
 
-hinfopt = hinfsynOptions('Display', 'on', 'Method', 'RIC', ...
-  'AutoScale', 'off', 'RelTol', 1e-3);
-[K_inf, ~, gamma, info] = hinfsyn(P_nom, nmeas, nctrl, hinfopt);
-ctrl.hinf = struct('Name', '$\mathcal{H}_{\infty}$', 'K', K_inf);
+  hinfopt = hinfsynOptions('Display', 'on', 'Method', 'RIC', ...
+    'AutoScale', 'off', 'RelTol', 1e-3);
+  [K_inf, ~, gamma, info] = hinfsyn(P_nom, nmeas, nctrl, hinfopt);
+  ctrl.hinf = struct('Name', '$\mathcal{H}_{\infty}$', 'K', K_inf);
 
-if gamma >= 1
-  fprintf('Failed to syntesize controller (closed loop is unstable).\n')
-end
+  if gamma >= 1
+    fprintf('Failed to syntesize controller (closed loop is unstable).\n')
+  end
 
 %  ------------------------------------------------------------------------
-%% Measure Performance
+%% Measure Performance of H-infinity design
 
-fprintf('Simulating closed loop...\n');
+  fprintf('Simulating closed loop...\n');
 
-nsamples = 500;
-do_noise = true;
-% uav_sim_step(params, model, ctrl.lqr, nsamples, do_plots);
+  nsamples = 500;
+  do_noise = true;
+  simout = uav_sim_step_hinf(params, model, ctrl.hinf, nsamples, do_plots, do_noise);
 
-simout = uav_sim_step_hinf(params, model, ctrl.hinf, nsamples, do_plots, do_noise);
+  fprintf('Writing simulation results...\n');
+  cols = [
+      simout.StepX(:, simout.index.Position), ...
+      simout.StepX(:, simout.index.Velocity), ...
+      simout.StepX(:, simout.index.FlapAngles) * 180 / pi, ...
+      simout.StepX(:, simout.index.Angles) * 180 / pi];
 
-fprintf('Writing simulation results...\n');
-cols = [
-    simout.StepX(:, simout.index.Position), ...
-    simout.StepX(:, simout.index.Velocity), ...
-    simout.StepX(:, simout.index.FlapAngles) * 180 / pi, ...
-    simout.StepX(:, simout.index.Angles) * 180 / pi];
+  writematrix([simout.TimeXY', cols], 'fig/stepsim.dat', 'Delimiter', 'tab')
+end
+
+%  ------------------------------------------------------------------------
+%% Perform mu-Analysis & DK iteration
 
-writematrix([simout.TimeXY', cols], 'fig/stepsim.dat', 'Delimiter', 'tab')
+if do_musyn
+
+end
 
 %  ------------------------------------------------------------------------
 %% Verify performance satisfaction via mu-analysis
@@ -134,7 +131,4 @@ writematrix([simout.TimeXY', cols], 'fig/stepsim.dat', 'Delimiter', 'tab')
 %   title('$\mu_\Delta(N)$', 'Interpreter', 'latex');
 % end
 
-%  ------------------------------------------------------------------------
-% Perform mu-Analysis & DK iteration
-
 % vim: ts=2 sw=2 et:
diff --git a/uav_model.m b/uav_model.m
index 4fddae9..3b691f4 100644
--- a/uav_model.m
+++ b/uav_model.m
@@ -11,7 +11,7 @@
 %  * A uncertain linear model built atop of the linear model using SIMULINK.
 %    The uncertain model contains the performance and weighting transfer 
 %    function given in the arguments perf and params, and is stored in the
-%    SIMULINK fil euav_model_uncertain.xls.
+%    SIMULINK file uav_model_uncertain.xls.
 %
 % [MODEL] = UAV_MODEL(PARAMS, PERF, UNCERT)
 %
diff --git a/uav_requirements.m b/uav_performance.m
index 9ccaeea..4857a34 100644
--- a/uav_requirements.m
+++ b/uav_performance.m
@@ -10,10 +10,10 @@
 %           performance transfer function
 %
 % Return value:
-%   MODEL   Struct performance transfer functions
+%   PERF    Struct performance transfer functions
 
 
-function [perf] = uav_requirements(params, plot)
+function [perf] = uav_performance(params, plot)
 
 % Laplace variable
 s = tf('s');
diff --git a/uav_uncertainty.m b/uav_uncertainty.m
new file mode 100644
index 0000000..e1ddf76
--- /dev/null
+++ b/uav_uncertainty.m
@@ -0,0 +1,28 @@
+% Generate transfer functions for loop shaping stability (uncertainty)
+% requirements from parameters specified in uav_params.m
+%
+% Copyright (C) 2024, Naoki Sean Pross, ETH Zürich
+% This work is distributed under a permissive license, see LICENSE.txt
+%
+% Arguments:
+%   PARAMS  Struct of design parameters and constants generated by uav_params
+%   PLOT    When set to 'true' it plots the inverse magnitude of the
+%           performance transfer function
+%
+% Return value:
+%   UNCERT  Struct of uncertainty transfer functions
+
+
+function [uncert] = uav_performance(params, plot)
+
+W_malpha = tf(1,1);
+W_momega = tf(1,1);
+W_mState = tf(1,1);
+
+uncert = struct(...
+  'FlapAngle', W_malpha * eye(4), ...
+  'Thrust', W_momega, ...
+  'StateLinApprox', W_mState * eye(12));
+
+end
+% vim: ts=2 sw=2 et: