Update DK-iteration and clean up

1 files changed, 0 insertions, 282 deletions

diff --git a/uav_sim_step_hinf.m b/uav_sim_step_hinf.m
deleted file mode 100644
index 5e448a1..0000000
--- a/uav_sim_step_hinf.m
+++ /dev/null
@@ -1,282 +0,0 @@
-% Simulate a step responses of ducted-fan VTOL micro-UAV.
-%
-% Copyright (C) 2024, Naoki Sean Pross, ETH Zürich
-% This work is distributed under a permissive license, see LICENSE.txt
-
-function [simout] = uav_sim_step_hinf(params, model, ctrl, nsamp, do_plots, do_noise)
-
-% Load closed loop model and add controller
-% more or less equivalent to doing usys = lft(Pnom, K)
-h = load_system('uav_model_uncertain_clp');
-hws = get_param('uav_model_uncertain_clp', 'modelworkspace');
-hws.assignin('K', ctrl.K);
-
-ulmod_clp = linmod('uav_model_uncertain_clp');
-usys_clp = ss(ulmod_clp.a, ulmod_clp.b, ulmod_clp.c, ulmod_clp.d);
-
-% Take dynamics without uncertainty
-% Also nominal ouput to make plots
-P_nom_clp = minreal(usys_clp(...
-  [model.uncertain.index.OutputError; 
-    model.uncertain.index.OutputNominal;
-    model.uncertain.index.OutputPlots], ...
-  model.uncertain.index.InputExogenous), [], false);
-
-% Indices for exogenous inputs
-Iwwind = (1:3)';
-Iwalpha = (4:7)';
-Ir = (8:10)';
-
-% Indices for outputs
-Iealpha = (1:4)';
-Ieomega = 5;
-IeP = (6:8)';
-IePdot = (9:11)';
-IeTheta = (12:14)';
-% size([Iealpha; Ieomega; IeP; IePdot; IeTheta])
-
-% Indices for y outputs (for plots)
-IP = (15:17)';
-IPdot = (18:20)';
-ITheta = (21:23)';
-IOmega = (24:26)';
-
-% Indices for p outputs (for plots)
-Ialpha = (27:30)';
-Iomega = 31;
-
-Iualpha = (32:35)';
-Iuomega = 36;
-
-noise = zeros(7, nsamp); % no noise
-if do_noise
-  % Noise in percentage
-  noise_alpha_amp = (.5 * (pi / 180)) / params.actuators.ServoAbsMaxAngle;
-  noise_wind_amp = .1;
-  noise = [noise_wind_amp * randn(3, nsamp);
-    noise_alpha_amp * randn(4, nsamp)];
-end
-
-% Create step inputs (normalized)
-ref_step = ones(1, nsamp); % 1d step function
-
-in_step_x = [ noise; ref_step; zeros(2, nsamp) ];
-in_step_y = [ noise; zeros(1, nsamp); ref_step; zeros(1, nsamp) ];
-in_step_z = [ noise; zeros(2, nsamp); ref_step ];
-
-% Simulation time
-n_settle_times = 10;
-T_final_horiz = n_settle_times * params.performance.HorizontalSettleTime;
-T_final_vert = n_settle_times * params.performance.VerticalSettleTime;
-
-t_xy = linspace(0, T_final_horiz, nsamp);
-t_z = linspace(0, T_final_vert, nsamp);
-
-% Simulate step responses
-out_step_x = lsim(P_nom_clp, in_step_x, t_xy);
-out_step_y = lsim(P_nom_clp, in_step_y, t_xy);
-out_step_z = lsim(P_nom_clp, in_step_z, t_z);
-
-% Return simulation
-simout = struct(...
-  'TimeXY', t_xy, ...
-  'StepX', out_step_x, ...
-  'StepY', out_step_y, ...
-  'Simulink', ulmod_clp, ...
-  'StateSpace', P_nom_clp);
-
-simout.index = struct(...
-  'ErrorFlapAngles', Iealpha, ...
-  'ErrorThrust', Ieomega , ...
-  'ErrorPos', IeP, ...
-  'ErrorVel', IePdot, ...
-  'ErrorAngles', IeTheta, ...
-  'Position', IP, ...
-  'Velocity', IPdot, ...
-  'Angles', ITheta, ...
-  'FlapAngles', Ialpha, ...
-  'Thruster', Iomega, ...
-  'InputFlapAngles', Iualpha, ...
-  'InputThruster', Iuomega);
-
-if do_plots
-  % Conversion factors
-  to_deg = 180 / pi; % radians to degrees
-  to_rpm = pi / 30; % rad / s to RPM
-
-  % Figure for flaps and Euler angles
-  figure;
-  sgtitle(sprintf(...
-    '\\bfseries Step Response of Flap and Euler Angles (%s)', ...
-    ctrl.Name), 'Interpreter', 'latex');
-
-  % Plot limits
-  ref_value     = params.performance.ReferencePosMaxDistance;
-  alpha_max_deg = params.actuators.ServoAbsMaxAngle * to_deg;
-  euler_lim_deg = 1.5; % params.performance.AngleMaxPitchRoll * to_deg;
-  omega_max_rpm = (params.actuators.PropellerMaxAngularVelocity ...
-    - params.linearization.Inputs(5)) * to_rpm;
-  omega_min_rpm = -params.linearization.Inputs(5) * to_rpm;
-
-  % Plot step response from x to alpha
-  subplot(2, 3, 1);
-  hold on;
-  plot(t_xy, out_step_x(:, Ialpha(1)) * to_deg);
-  plot(t_xy, out_step_x(:, Ialpha(2)) * to_deg);
-  plot(t_xy, out_step_x(:, Ialpha(3)) * to_deg);
-  plot(t_xy, out_step_x(:, Ialpha(4)) * to_deg);
-  plot([0, T_final_horiz], [1, 1] * alpha_max_deg, 'r--');
-  plot([0, T_final_horiz], [-1, -1] * alpha_max_deg, 'r--');
-  grid on;
-  xlim([0, T_final_horiz]);
-  ylim([-alpha_max_deg * 1.1, alpha_max_deg * 1.1]);
-  title('Horizontal $x$ to Flaps', 'Interpreter', 'latex');
-  ylabel('Flap Angle (degrees)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\alpha_1(t)$', '$\alpha_2(t)$', '$\alpha_3(t)$', '$\alpha_4(t)$', ...
-    'Interpreter', 'latex');
-
-  % Plot step response from y to alpha
-  subplot(2, 3, 2); hold on;
-  plot(t_xy, out_step_y(:, Ialpha(1)) * to_deg);
-  plot(t_xy, out_step_y(:, Ialpha(2)) * to_deg);
-  plot(t_xy, out_step_y(:, Ialpha(3)) * to_deg);
-  plot(t_xy, out_step_y(:, Ialpha(4)) * to_deg);
-  plot([0, T_final_horiz], [1, 1] * alpha_max_deg, 'r--');
-  plot([0, T_final_horiz], [-1, -1] * alpha_max_deg, 'r--');
-  grid on;
-  xlim([0, T_final_horiz]);
-  ylim([-alpha_max_deg * 1.1, alpha_max_deg * 1.1]);
-  title('Horizontal $y$ to Flaps', 'Interpreter', 'latex');
-  ylabel('Flap Angle (degrees)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\alpha_1(t)$', '$\alpha_2(t)$', '$\alpha_3(t)$', '$\alpha_4(t)$', ...
-    'Interpreter', 'latex');
-
-  % Plot step response from z to alpha
-  subplot(2, 3, 3); hold on;
-  plot(t_z, out_step_z(:, Ialpha(1)) * to_deg);
-  plot(t_z, out_step_z(:, Ialpha(2)) * to_deg);
-  plot(t_z, out_step_z(:, Ialpha(3)) * to_deg);
-  plot(t_z, out_step_z(:, Ialpha(4)) * to_deg);
-  plot([0, T_final_vert], [1, 1] * alpha_max_deg, 'r--');
-  plot([0, T_final_vert], [-1, -1] * alpha_max_deg, 'r--');
-  grid on;
-  xlim([0, T_final_vert]);
-  ylim([-alpha_max_deg * 1.1, alpha_max_deg * 1.1]);
-  title('Vertical $z$ to Flaps', 'Interpreter', 'latex');
-  ylabel('Flap Angle (degrees)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\alpha_1(t)$', '$\alpha_2(t)$', '$\alpha_3(t)$', '$\alpha_4(t)$', ...
-    'Interpreter', 'latex');
-
-  % Plot step response from x to Theta
-  subplot(2, 3, 4); hold on;
-  plot(t_xy, out_step_x(:, ITheta(1)) * to_deg);
-  plot(t_xy, out_step_x(:, ITheta(2)) * to_deg);
-  plot(t_xy, out_step_x(:, ITheta(3)) * to_deg);
-  grid on;
-  xlim([0, T_final_horiz]);
-  ylim([-euler_lim_deg, euler_lim_deg]);
-  title('Horizontal $x$ to Euler Angles', 'Interpreter', 'latex');
-  ylabel('Euler Angle (degrees)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\phi(t)$ Roll ', '$\theta(t)$ Pitch ', '$\psi(t)$ Yaw ', ...
-    'Interpreter', 'latex');
-
-  % Plot step response from y to Theta
-  subplot(2, 3, 5); hold on;
-  plot(t_xy, out_step_y(:, ITheta(1)) * to_deg);
-  plot(t_xy, out_step_y(:, ITheta(2)) * to_deg);
-  plot(t_xy, out_step_y(:, ITheta(3)) * to_deg);
-  grid on;
-  xlim([0, T_final_horiz]);
-  ylim([-euler_lim_deg, euler_lim_deg]);
-  title('Horizontal $y$ to Euler Angles', 'Interpreter', 'latex');
-  ylabel('Euler Angle (degrees)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\phi(t)$ Roll ', '$\theta(t)$ Pitch ', '$\psi(t)$ Yaw ', ...
-    'Interpreter', 'latex');
-
-  % Plot step response from z to Theta
-  subplot(2, 3, 6); hold on;
-  plot(t_z, out_step_z(:, ITheta(1)) * to_deg);
-  plot(t_z, out_step_z(:, ITheta(2)) * to_deg);
-  plot(t_z, out_step_z(:, ITheta(3)) * to_deg);
-  grid on;
-  xlim([0, T_final_vert]);
-  ylim([-euler_lim_deg, euler_lim_deg]);
-  title('Vertical $z$ to Euler Angles', 'Interpreter', 'latex');
-  ylabel('Euler Angle (degrees)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\phi(t)$ Roll ', '$\theta(t)$ Pitch ', '$\psi(t)$ Yaw ', ...
-    'Interpreter', 'latex');
-
-  % Plot step response from z to omega
-  figure;
-  sgtitle(sprintf(...
-    '\\bfseries Step Response to Propeller (%s)', ...
-    ctrl.Name), 'Interpreter', 'latex');
-
-  hold on;
-  step(P_nom_clp(Iomega, Ir(3)) * to_rpm, T_final_vert);
-  plot([0, T_final_vert], [1, 1] * omega_min_rpm, 'r--');
-  plot([0, T_final_vert], [1, 1] * omega_max_rpm, 'r--');
-  grid on;
-  ylim([omega_min_rpm - 1, omega_max_rpm + 1]);
-  title('Vertical $z$ to Thruster $\omega$', 'Interpreter', 'latex');
-  ylabel('Angular Velocity (RPM)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\omega(t)$', 'Interpreter', 'latex');
-
-  % Figure for position and velocity
-  figure;
-  sgtitle(sprintf(...
-    '\\bfseries Step Response of Position and Speed (%s)', ...
-    ctrl.Name), 'Interpreter', 'latex');
-
-  % Plot step response from horizontal reference to horizontal position
-  subplot(2, 2, 1); hold on;
-  plot(t_xy, out_step_x(:, IP(1)));
-  plot(t_xy, out_step_y(:, IP(2)));
-  % plot([0, T_final_horiz], [1, 1] * ref_value, 'r:');
-  % plot(t_xy, out_step_xydes, 'r--');
-  grid on;
-  title('Horizontal Position Error', 'Interpreter', 'latex');
-  ylabel('Error (meters)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$x(t)$', '$y(t)$', 'Interpreter', 'latex');
-
-  % Plot step response horizontal reference to horizontal speed
-  subplot(2, 2, 2); hold on;
-  plot(t_xy, out_step_x(:, IPdot(1)));
-  plot(t_xy, out_step_y(:, IPdot(2)));
-  grid on;
-  title('Horizontal Velocity', 'Interpreter', 'latex');
-  ylabel('Velocity (m / s)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\dot{x}(t)$', '$\dot{y}(t)$', 'Interpreter', 'latex');
-
-  % Plot step response from vertical reference to vertical position
-  subplot(2, 2, 3); hold on;
-  plot(t_z, out_step_z(:, IP(3)));
-  % plot([0, T_final_vert], [1, 1] * ref_value, 'r:');
-  % plot(t_z, out_step_zdes, 'r--');
-  grid on;
-  title('Vertical Position Error', 'Interpreter', 'latex');
-  ylabel('Error (meters)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$z(t)$', 'Interpreter', 'latex');
-
-  % Plot step response vertical reference to vertical speed
-  subplot(2, 2, 4); hold on;
-  plot(t_z, out_step_z(:, IPdot(3)));
-  grid on;
-  title('Vertical Velocity', 'Interpreter', 'latex');
-  ylabel('Velocity (m / s)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\dot{z}(t)$', 'Interpreter', 'latex');
-end
-
-end
-% vim:ts=2 sw=2 et: