From d2d174694099a2e9e88124287e2fd32c3cc4e808 Mon Sep 17 00:00:00 2001
From: Nao Pross <np@0hm.ch>
Date: Fri, 31 May 2024 15:31:02 +0200
Subject: Update model and weights

---
 uav.m | 18 ++++++------------
 1 file changed, 6 insertions(+), 12 deletions(-)

(limited to 'uav.m')

diff --git a/uav.m b/uav.m
index 4155e93..ac766bb 100644
--- a/uav.m
+++ b/uav.m
@@ -9,7 +9,7 @@
 clear; clc; close all; s = tf('s');
 
 do_plots = true; % runs faster without
-do_hinf = false;
+do_hinf = true;
 do_musyn = true;
 
 fprintf('Controller synthesis for ducted fan VTOL micro-UAV\n')
@@ -80,7 +80,7 @@ if do_hinf
   );
 
   ctrl.hinf = struct( ...
-    'Name', '$\mathcal{H}_{\infty}$', ...
+    'Name', 'Nominal $\mathcal{H}_{\infty}$', ...
     'K', K_inf, ...
     'index', index ...
   );
@@ -142,7 +142,7 @@ drawnow;
 
 if do_musyn
   fprintf('Generating system model for mu-synthesis design...\n');
-  model = uav_model(params, perf_musyn, uncert);
+  model = uav_model(params, perf_hinf, uncert);
 
   fprintf('Performing mu-synthesis controller design...\n')
 
@@ -175,7 +175,7 @@ if do_musyn
   d_scales_max_degree = 5;
   d_scales_max_err = 15;
   d_scales_max_err_p = .05; % in percentage
-  d_scales_improvement_p = .25; % in percentage, avoid diminishing returns
+  d_scales_improvement_p = .1; % in percentage, avoid diminishing returns
 
   % Limit order of scaled plant
   scaled_plant_reduce_ord = 100;
@@ -208,7 +208,7 @@ if do_musyn
   % according to parameters given above
   d_scales_degrees = {
       0,   0,   0,   0,   0, inf, inf; % alpha
-      5,   1, inf, inf, inf, inf, inf; % omega
+      3, inf, inf, inf, inf, inf, inf; % omega
       0,   0,   0,   0,   0, inf, inf; % state
       0,   0,   0,   0,   0, inf, inf; % perf
   };
@@ -346,10 +346,6 @@ if do_musyn
       error('Failed to synethesize H-infinity controller');
     end
 
-     if it == 1
-       K_hinf = K;
-     end
-
     % Calculate frequency response of closed loop
     N = minreal(lft(P, K), [], false);
     M = minreal(N(idx.OutputUncertain, idx.InputUncertain), [], false);
@@ -623,8 +619,6 @@ if do_musyn
   Delta = Delta / norm(Delta, inf);
 
   % Save controllers
-  ctrl.hinf = struct('Name', '$\mathcal{H}_{\infty}$', 'K', K_hinf);
-
   ctrl.musyn = struct('Name', '$\mu$-Synthesis', ...
                       'K', K, 'Delta', Delta, ...
                       'mu_rp', mu_rp, 'mu_rs', mu_rs);
@@ -696,6 +690,6 @@ if do_musyn
 
   uncert.Delta = ctrl.musyn.Delta;
   simout = uav_sim_step(params, model, ctrl.musyn, uncert, nsamples, T, do_plots, do_noise);
-  simout = uav_sim_step(params, model, ctrl.hinf, uncert, nsamples, 5, do_plots, do_noise);
+  simout = uav_sim_step(params, model, ctrl.hinf, uncert, nsamples, T, do_plots, do_noise);
   uncert = rmfield(uncert, 'Delta');
 end
-- 
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