Update weights

1 files changed, 10 insertions, 9 deletions

diff --git a/uav.m b/uav.m
index 2ee58da..7676148 100644
--- a/uav.m
+++ b/uav.m
@@ -157,11 +157,11 @@ if do_musyn
   nmeas = model.uncertain.Ny;
   nctrl = model.uncertain.Nu;
   hinfopt = hinfsynOptions('Display', 'off', 'Method', 'RIC', ...
-    'AutoScale', 'on', 'RelTol', 1e-2);
+    'AutoScale', 'on', 'RelTol', 1e-3);
 
   % Frequency raster resolution to fit D scales
-  omega_max = 2.5;
-  omega_min = -3.5;
+  omega_max = 2;
+  omega_min = -3;
   nsamples = (omega_max - omega_min) * 100;
 
   omega = logspace(omega_min, omega_max, nsamples);
@@ -172,10 +172,10 @@ if do_musyn
   D_right = tf(eye(model.uncertain.Nv + model.uncertain.Nw + model.uncertain.Nu));
 
   % Maximum degree of D-scales and error
-  d_scales_max_degree = 4;
+  d_scales_max_degree = 5;
   d_scales_max_err = 15;
-  d_scales_max_err_p = .1; % in percentage
-  d_scales_improvement_p = .5; % in percentage, avoid diminishing returns
+  d_scales_max_err_p = .05; % in percentage
+  d_scales_improvement_p = .25; % in percentage, avoid diminishing returns
 
   % Limit order of scaled plant
   scaled_plant_reduce_ord = 100;
@@ -199,7 +199,7 @@ if do_musyn
   gamma_min = .8;
 
   % Maximum number of D-K iterations
-  niters = 4;
+  niters = 6;
   fprintf(' - Will do (max) %d iterations.\n', niters);
 
   %% Run D-K iteration
@@ -208,8 +208,8 @@ if do_musyn
   % according to parameters given above
   d_scales_degrees = {
       0,   0,   0,   0,   0, inf, inf; % alpha
-      1,   1,   3,   3,   0, inf, inf; % omega
-      0,   1,   0,   0,   0, inf, inf; % state
+    inf, inf, inf, inf, inf, inf, inf; % omega
+      0,   0,   0,   0,   0, inf, inf; % state
       0,   0,   0,   0,   0, inf, inf; % perf
   };
 
@@ -251,6 +251,7 @@ if do_musyn
     [P_scaled, ~] = prescale(P_scaled, omega_range);
     n = size(P_scaled.A, 1);
 
+    % disabled, seems to work without
     if false && n > scaled_plant_reduce_ord
       R = reducespec(P_scaled, 'balanced'); % or ncf
       R.Options.FreqIntervals = [omega_range{1}, omega_range{2}];