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| author | Nao Pross <np@0hm.ch> | 2024-05-17 11:41:28 +0200 |
|---|---|---|
| committer | Nao Pross <np@0hm.ch> | 2024-05-17 11:41:28 +0200 |
| commit | de891f907e6d7908e75e0da8dddd04c66dfcfd7b (patch) | |
| tree | fb0253494a27d16f733cdf1d325d6741cf3ed0bb /uav_uncertainty.m | |
| parent | Delete old LQR code (diff) | |
| download | uav-de891f907e6d7908e75e0da8dddd04c66dfcfd7b.tar.gz uav-de891f907e6d7908e75e0da8dddd04c66dfcfd7b.zip | |
Clean up comments
Diffstat (limited to '')
| -rw-r--r-- | uav_uncertainty.m | 20 |
1 files changed, 13 insertions, 7 deletions
diff --git a/uav_uncertainty.m b/uav_uncertainty.m index 6f28d8d..aff30ca 100644 --- a/uav_uncertainty.m +++ b/uav_uncertainty.m @@ -28,13 +28,18 @@ eps_d = params.aerodynamics.DragCoefficientsUncertainties(1); eps_omega = max(.5 * eps_T, eps_r); eps_alpha = max(eps_l + eps_S + 2 * eps_omega, eps_S + eps_d + eps_omega); +% TODO: set proper constraints % band pass parameters for W_malpha -wh = 20; % high freq -wl = .1; % low freq +% wh = 20; % high freq +% wl = .1; % low freq -W_malpha = eps_alpha * (s / wl) / ((s / wh + 1) * (s / wl + 1)); -W_momega = eps_omega * 10 / (s + 10); -W_mState = .01 * 10 / (s + 10); +% W_malpha = eps_alpha * (s / wl) / ((s / wh + 1) * (s / wl + 1)); +% W_momega = eps_omega * 10 / (s + 10); +% W_mState = .01 * 10 / (s + 10); + +W_malpha = eps_alpha * tf(1); +W_momega = tf(0); +W_mState = .01 * tf(1); uncert = struct(... 'FlapAngle', W_malpha * eye(4), ... @@ -50,8 +55,9 @@ if do_plots grid on; legend('$W_{m,\alpha}$', '$W_{m,\omega}$', '$W_{m,\mathbf{P}}$', ... - 'interpreter', 'latex') - title('Stability (Uncertainty) Requirement') + 'interpreter', 'latex') + title('\bfseries Stability Requirement (only for $\mu$-Synthesis)', ... + 'interpreter', 'latex') end end |