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| -rw-r--r-- | midterm.m | 41 |
1 files changed, 41 insertions, 0 deletions
diff --git a/midterm.m b/midterm.m new file mode 100644 index 0000000..8f8e5e1 --- /dev/null +++ b/midterm.m @@ -0,0 +1,41 @@ +% Copyright (c) 2024, Naoki Sean Pross, ETH Zürich + +%% ------------------------------------------------------------------------ +% Clear environment and generate parameters + +clear; clc; close all; +params = uav_params(); + +%% ------------------------------------------------------------------------ +% Create nominal plant and controller + +% Generate nominal model +model = uav_model(params); +ctrl = uav_ctrl_nominal(params, model); + +% Model dimensions +nx = model.linear.Nx; + +% Open loop path +L = model.linear.StateSpace * ctrl.K; + +% Closed loop path under unitary negative gain +G = feedback(L, eye(nx, nx)); + +%% ------------------------------------------------------------------------ +% Simulate nominal controller + +%% ------------------------------------------------------------------------ +% Define performance goals + +%% ------------------------------------------------------------------------ +% Create uncertain model + +%% ------------------------------------------------------------------------ +% Define stability goals + +%% ------------------------------------------------------------------------ +% Perform H-infinity design + +%% ------------------------------------------------------------------------ +% Perform mu-Analysis
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