From 868d27134a48f3de23139e873b867dba46b0d5ec Mon Sep 17 00:00:00 2001
From: Nao Pross <np@0hm.ch>
Date: Tue, 14 May 2024 01:05:15 +0200
Subject: Improve console output

---
 uav.m               | 36 ++++++++++++++++++++++++++++--------
 uav_model.m         | 18 ++++++++++--------
 uav_sim_step_hinf.m |  2 +-
 3 files changed, 39 insertions(+), 17 deletions(-)

diff --git a/uav.m b/uav.m
index c646de2..ec84682 100644
--- a/uav.m
+++ b/uav.m
@@ -8,16 +8,36 @@
 
 clear; clc; close all; s = tf('s');
 
-fprintf('Generating system parameters...\n')
-params = uav_params();
-ctrl = struct();
-
 % Flags to speed up running for debugging
 do_plots = true;
 do_lqr = false; % unused
-do_hinf = false; % midterm
+do_hinf = true; % midterm
 do_musyn = true; % endterm
 
+fprintf('Controller synthesis for ducted fan VTOL micro-UAV\n')
+fprintf('Will do:\n')
+if do_plots
+  fprintf(' - Produce plots\n')
+end
+if do_lqr
+  fprintf(' - LQR synthesis\n')
+end
+if do_hinf
+  fprintf(' - H-infinity synthesis\n')
+end
+if do_musyn
+  fprintf(' - Mu synthesis\n')
+end
+
+% Synthesized controllers will be stored here
+ctrl = struct();
+
+% ------------------------------------------------------------------------
+%% Define system parameters
+
+fprintf('Generating system parameters...\n')
+params = uav_params();
+
 % ------------------------------------------------------------------------
 %% Define performance requirements
 
@@ -59,10 +79,10 @@ if do_hinf
 
   % Get nominal system without uncertainty (for lower LFT)
   P_nom = minreal(P([idx.OutputError; idx.OutputNominal], ...
-                    [idx.InputExogenous; idx.InputNominal]));
+                    [idx.InputExogenous; idx.InputNominal]), [], false);
 
-  nmeas = max(size(idx.OutputNominal)); % size of y
-  nctrl = max(size(idx.InputNominal)); % size of u
+  nmeas = model.uncertain.Ny;
+  nctrl = model.uncertain.Nu;
 
   hinfopt = hinfsynOptions('Display', 'on', 'Method', 'RIC', ...
     'AutoScale', 'off', 'RelTol', 1e-3);
diff --git a/uav_model.m b/uav_model.m
index 3b691f4..0af0818 100644
--- a/uav_model.m
+++ b/uav_model.m
@@ -223,7 +223,7 @@ D = zeros(12, 5);
 % Create state space object
 T = params.measurements.SensorFusionDelay;
 n = params.linearization.PadeApproxOrder;
-sys = minreal(pade(ss(A, B, C, D, 'OutputDelay', T), n));
+sys = minreal(pade(ss(A, B, C, D, 'OutputDelay', T), n), [], false); % slient
 
 % Save linearized dynamics (numerical)
 model.linear = struct(...
@@ -241,7 +241,7 @@ eigvals = eig(A);
 % Check system controllability / stabilizability
 Wc = ctrb(sys);
 if rank(Wc) < nx
-  fprintf('Linearized system has %d uncontrollable states!\n', ...
+  fprintf(' - Linearized system has %d uncontrollable states!\n', ...
     (nx - rank(Wc)));
 
   % Is the system at least stabilizable?
@@ -257,17 +257,17 @@ if rank(Wc) < nx
     end
   end
   if unstabilizable > 0
-    fprintf('Linearized system has %d unstabilizable modes!\n', ...
+    fprintf(' - Linearized system has %d unstabilizable modes!\n', ...
       unstabilizable);
   else
-    fprintf('However, it is stabilizable.\n');
+    fprintf('   However, it is stabilizable.\n');
   end
 end
 
 % Check system observability / detectability
 Wo = obsv(sys);
 if rank(Wo) < nx
-  fprintf('Linearized system has %d unobservable states!\n', ...
+  fprintf(' - Linearized system has %d unobservable states!\n', ...
     (nx - rank(Wo)));
   % is the system at least detectable?
   undetectable = 0;
@@ -281,10 +281,10 @@ if rank(Wo) < nx
     end
   end
   if undetectable > 0
-    fprintf('Linearized system has %d undetectable modes!\n', ...
+    fprintf(' - Linearized system has %d undetectable modes!\n', ...
       undetectable);
   else
-    fprintf('However, it is detectable.\n')
+    fprintf('   However, it is detectable.\n')
   end
 end
 
@@ -367,10 +367,12 @@ idx = model.uncertain.index;
 
 % Number of inputs
 model.uncertain.Nv = max(size(idx.InputUncertain));
-model.uncertain.Nr = max(size(idx.InputReference));
 model.uncertain.Nw = max(size(idx.InputExogenous));
 model.uncertain.Nu = max(size(idx.InputNominal));
 
+model.uncertain.Nr = max(size(idx.InputReference));
+% size of noise is (Nw - Nr)
+
 % Number of outputs
 model.uncertain.Nz = max(size(idx.OutputUncertain));
 model.uncertain.Ne = max(size(idx.OutputError));
diff --git a/uav_sim_step_hinf.m b/uav_sim_step_hinf.m
index 71510b8..5e448a1 100644
--- a/uav_sim_step_hinf.m
+++ b/uav_sim_step_hinf.m
@@ -20,7 +20,7 @@ P_nom_clp = minreal(usys_clp(...
   [model.uncertain.index.OutputError; 
     model.uncertain.index.OutputNominal;
     model.uncertain.index.OutputPlots], ...
-  model.uncertain.index.InputExogenous));
+  model.uncertain.index.InputExogenous), [], false);
 
 % Indices for exogenous inputs
 Iwwind = (1:3)';
-- 
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