1 files changed, 0 insertions, 77 deletions
diff --git a/midterm.m b/midterm.m
deleted file mode 100644
index eca35bc..0000000
--- a/midterm.m
+++ /dev/null
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-% Copyright (c) 2024, Naoki Sean Pross, ETH Zürich
-
-%% ------------------------------------------------------------------------
-% Clear environment and generate parameters
-
-clear; clc; close all; s = tf('s');
-params = uav_params();
-
-%% ------------------------------------------------------------------------
-% Create nominal plant
-
-% Generate nominal model
-model = uav_model(params);
-
-%% ------------------------------------------------------------------------
-% Define performance requirements
-
-alpha_max = params.actuators.ServoAbsMaxAngleDeg * pi / 180;
-W_Palpha = tf(alpha_max,1);
-
-W_Pomega = tf(1,1);
-W_Pxy = tf(1,1);
-W_Pz = tf(1,1);
-
-figure(1); hold on;
-bodemag(W_Palpha);
-bodemag(W_Pomega);
-bodemag(W_Pxy);
-bodemag(W_Pz);
-
-grid on;
-legend('$W_{P,\alpha}$', '$W_{P,\omega}$', ...
-  '$W_{P,xy}$', '$W_{P,z}$', ...
-  'interpreter', 'latex', 'fontSize', 8);
-title('Performance requirements');
-
-
-W_PP = blkdiag(W_Pxy * eye(2), W_Pz);
-
-perf = struct(...
-  'FlapAngle', W_Palpha * eye(4), ...
-  'Thrust', W_Pomega, ...
-  'PositionAccuracy', W_PP);
-
-%% ------------------------------------------------------------------------
-% Define stability requirements
-
-% Mechanically, flaps are constrained to a max of 20~25 degrees,
-% we assume a precision of
-% also, flaps tend to get less precise at higher frequencies
-alpha_max = 2 * pi * 20;
-W_malpha = alpha_max / (s + 2) * eye(4);
-
-W_momega = tf(1,1);
-W_mTheta = tf(1,1) * eye(3);
-W_mOmega = tf(1,1) * eye(3);
-
-uncert = struct(...
-  'FlapAngle', W_malpha, ...
-  'Thrust', W_momega, ...
-  'EulerAnglesApprox', W_mTheta, ...
-  'AngularRateApprox', W_mOmega);
-
-%% ------------------------------------------------------------------------
-% Create uncertain system
-
-% Load simulink model with uncertainties
-usys = linmod('uav_model_uncertain');
-G = ss(usys.a, usys.b, usys.c, usys.d);
-
-%% ------------------------------------------------------------------------
-% Perform H-infinity design
-
-%% ------------------------------------------------------------------------
-% Perform mu-Analysis & DK iteration
-
-% vim: ts=2 sw=2 et: