Improve console output

1 files changed, 28 insertions, 8 deletions

diff --git a/uav.m b/uav.m
index c646de2..ec84682 100644
--- a/uav.m
+++ b/uav.m
@@ -8,16 +8,36 @@
 
 clear; clc; close all; s = tf('s');
 
-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_hinf = true; % midterm
 do_musyn = true; % endterm
 
+fprintf('Controller synthesis for ducted fan VTOL micro-UAV\n')
+fprintf('Will do:\n')
+if do_plots
+  fprintf(' - Produce plots\n')
+end
+if do_lqr
+  fprintf(' - LQR synthesis\n')
+end
+if do_hinf
+  fprintf(' - H-infinity synthesis\n')
+end
+if do_musyn
+  fprintf(' - Mu synthesis\n')
+end
+
+% Synthesized controllers will be stored here
+ctrl = struct();
+
+% ------------------------------------------------------------------------
+%% Define system parameters
+
+fprintf('Generating system parameters...\n')
+params = uav_params();
+
 % ------------------------------------------------------------------------
 %% Define performance requirements
 
@@ -59,10 +79,10 @@ if do_hinf
 
   % Get nominal system without uncertainty (for lower LFT)
   P_nom = minreal(P([idx.OutputError; idx.OutputNominal], ...
-                    [idx.InputExogenous; idx.InputNominal]));
+                    [idx.InputExogenous; idx.InputNominal]), [], false);
 
-  nmeas = max(size(idx.OutputNominal)); % size of y
-  nctrl = max(size(idx.InputNominal)); % size of u
+  nmeas = model.uncertain.Ny;
+  nctrl = model.uncertain.Nu;
 
   hinfopt = hinfsynOptions('Display', 'on', 'Method', 'RIC', ...
     'AutoScale', 'off', 'RelTol', 1e-3);