1 files changed, 23 insertions, 22 deletions
diff --git a/uav_performance_musyn.m b/uav_performance_musyn.m
index aba2160..57237fa 100644
--- a/uav_performance_musyn.m
+++ b/uav_performance_musyn.m
@@ -19,30 +19,30 @@ function [perf] = uav_performance_musyn(params, do_plots)
 s = tf('s');
 
 % Bandwitdhs
-bw_alpha = params.actuators.ServoNominalAngularVelocity;
-bw_omega = 10;
+bw_alpha = .7 * params.actuators.ServoNominalAngularVelocity;
+bw_omega = 8;
 
-bw_xy = .05;
-bw_z = .05;
+bw_xy = .1;
+bw_z = .4;
 
 bw_xydot = .5;
 bw_zdot = .1;
 
-bw_phitheta = .1;
+bw_phitheta = bw_xy;
 bw_psi = .08;
 
 % Inverse performance functions
-W_Palpha = .2 / (s / bw_alpha + 1); 
-W_Pomega = .2 / (s / bw_omega + 1);
+W_Palpha = .25 / (s / bw_alpha + 1); 
+W_Pomega = .1 / (s / bw_omega + 1);
 
-W_Pxy = 8 * bw_xy^2 / (s^2 + 2 * 1 * bw_xy * s + bw_xy^2);
-W_Pz = 1 * bw_z^2 / (s^2  + 2 * 1 * bw_z * s + bw_z^2);
+W_Pxy = 2 * bw_xy^2 / (s^2 + 2 * .9 * bw_xy * s + bw_xy^2);
+W_Pz = bw_z^2 / (s^2  + 2 * 1 * bw_z * s + bw_z^2);
 
-W_Pxydot = .2 / (s / bw_xydot + 1);
-W_Pzdot = .5 / (s / bw_zdot + 1);
+W_Pxydot = tf(.1); % .2 / (s / bw_xydot + 1);
+W_Pzdot = tf(.1); % .5 / (s / bw_zdot + 1);
  
-W_Pphitheta = 1 / (s / bw_phitheta + 1);
-W_Ppsi = .1 / (s / bw_psi + 1);
+W_Pphitheta = .01 / (s / bw_phitheta + 1);
+W_Ppsi = tf(.1); % .1 / (s / bw_psi + 1);
 
 % Construct performance vector by combining xy and z
 W_PP = blkdiag(W_Pxy * eye(2), W_Pz);
@@ -60,14 +60,14 @@ if do_plots
   % 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);
+  bodemag(1/W_Palpha);
+  bodemag(1/W_Pomega);
+  bodemag(1/W_Pxy);
+  bodemag(1/W_Pz);
+  bodemag(1/W_Pxydot);
+  bodemag(1/W_Pzdot);
+  bodemag(1/W_Pphitheta);
+  bodemag(1/W_Ppsi);
 
   grid on;
   legend('$W_{P,\alpha}$', '$W_{P,\omega}$', ...
@@ -75,7 +75,8 @@ if do_plots
     '$W_{P,\dot{x}\dot{y}}$', '$W_{P,\dot{z}}$', ...
     '$W_{P,\phi\theta}$', '$W_{P,\psi}$', ...
     'interpreter', 'latex', 'fontSize', 8);
-  title('Performance Requirements');
+  title('\bfseries Inverse Performance Requirements', ...
+    'interpreter', 'latex');
 
   % Step response of position requirements
   figure; hold on;