Fix DK iteration scales, add realistic values

also separate performance requirements from hinf and musyn

1 files changed, 0 insertions, 123 deletions

diff --git a/uav_performance.m b/uav_performance.m
deleted file mode 100644
index 4857a34..0000000
--- a/uav_performance.m
+++ /dev/null
@@ -1,123 +0,0 @@
-% Generate transfer functions for loop shaping performance 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:
-%   PERF    Struct performance transfer functions
-
-
-function [perf] = uav_performance(params, plot)
-
-% Laplace variable
-s = tf('s');
-
-alpha_max = params.actuators.ServoAbsMaxAngle;
-alpha_max_omega = params.actuators.ServoNominalAngularVelocity;
-
-T_xy = params.performance.HorizontalSettleTime;
-T_z = params.performance.VerticalSettleTime;
-
-omega_nxy = 5 / T_xy;
-omega_nz = 10 / T_z;
-
-% W_Palpha = 1 / (s^2 + 2 * alpha_max_omega * s + alpha_max_omega^2);
-% W_Palpha = (1 - W_Palpha / dcgain(W_Palpha)) * .8;
-% W_Pomega = (1 - 1 / (T_z / 5 * s + 1)) * .1;
-
-W_Palpha = make_weight(alpha_max_omega, 15, 1.1, 3);
-W_Pomega = make_weight(omega_nz, 50, 10);
-
-% zeta = 1; % Almost critically damped
-% W_Pxy = 1 / (s^2  + 2 * zeta * omega_nxy * s + omega_nxy^2);
-% W_Pxy = 1 * W_Pxy / dcgain(W_Pxy);
-% W_Pz  = 1 / (s^2 + 2 * zeta * omega_nz * s + omega_nz^2);
-% W_Pz  = 1 * W_Pz / dcgain(W_Pz);
-
-W_Pxy = make_weight(omega_nxy, 2, 5);
-W_Pz = make_weight(omega_nz, 1, 10);
-
-% Set a speed limit
-W_Pxydot = .2 * tf(1, 1);
-W_Pzdot = .2 * tf(1, 1);
- 
-W_Pphitheta = .01 * tf(1, [.1, 1]);
-W_Ppsi = .01 * tf(1, 1); % don't care
-
-W_PTheta = tf(1, [.1, 1]) * eye(3);
-
-% Construct performance vector by combining xy and z
-W_PP = blkdiag(W_Pxy * eye(2), W_Pz);
-W_PPdot = blkdiag(W_Pxydot * eye(2), W_Pzdot);
-W_PTheta = blkdiag(W_Pphitheta * eye(2), W_Ppsi);
-
-perf = struct(...
-  'FlapAngle', W_Palpha * eye(4), ...
-  'Thrust', W_Pomega, ...
-  'Position', W_PP, ...
-  'Velocity', W_PPdot, ...
-  'Angles', W_PTheta);
-
-if plot
-  % Bode plots of performance requirements
-  figure; hold on;
-
-  bodemag(W_Palpha);
-  bodemag(W_Pomega);
-  bodemag(W_Pxy);
-  bodemag(W_Pz);
-  bodemag(W_Pxydot);
-  bodemag(W_Pzdot);
-  bodemag(W_Pphitheta);
-  bodemag(W_Ppsi);
-
-  grid on;
-  legend('$W_{P,\alpha}$', '$W_{P,\omega}$', ...
-    '$W_{P,xy}$', '$W_{P,z}$', ...
-    '$W_{P,\dot{x}\dot{y}}$', '$W_{P,\dot{z}}$', ...
-    '$W_{P,\phi\theta}$', '$W_{P,\psi}$', ...
-    'interpreter', 'latex', 'fontSize', 8);
-  title('Performance Requirements');
-
-  % Step response of position requirements
-  figure; hold on;
-  step(W_Pxy); step(W_Pz);
-  step(W_Pxydot); step(W_Pzdot);
-  step(W_Palpha);
-  step(W_Pomega);
-  grid on;
-  legend('$W_{P,xy}$', '$W_{P,z}$', ...
-    '$W_{P,\dot{x}\dot{y}}$', '$W_{P,\dot{z}}$', ...
-    '$W_{P,\alpha}$', '$W_{P,\omega}$', ...
-    'interpreter', 'latex', 'fontSize', 8);
-  title('Step responses of performance requirements');
-end
-
-end
-
-% Make a n-order performance weight function
-%
-% Arguments:
-%   OMEGA  Cutting frequency (-3dB)
-%   A      Magnitude at DC, i.e. |Wp(0)|
-%   M      Magnitude at infinity, i.e. |Wp(inf)|
-%   ORD    Order
-function [Wp] = make_weight(omega, A, M, ord)
-
-if nargin > 3
-  n = ord;
-else
-  n = 1;
-end
-
-s = tf('s');
-Wp = (s / (M^(1/n)) + omega)^n / (s + omega * A^(1/n))^n;
-
-end
-% vim: ts=2 sw=2 et: