From e4bcf8516f7b888c626397912be84d9ee4679822 Mon Sep 17 00:00:00 2001
From: Nao Pross <np@0hm.ch>
Date: Tue, 14 May 2024 01:05:42 +0200
Subject: Implement DK iteration

---
 uav_model.m | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

(limited to 'uav_model.m')

diff --git a/uav_model.m b/uav_model.m
index 0af0818..0ec9a67 100644
--- a/uav_model.m
+++ b/uav_model.m
@@ -318,16 +318,14 @@ usys = ss(ulmod.a, ulmod.b, ulmod.c, ulmod.d);
 
 % Specify uncertainty block structure for mussv command
 blk_stab = [
-  4, 0; % alpha
-  1, 0; % omega
-  12, 12; % state
+  4, 0; % alpha uncert, diagonal
+  1, 0; % omega uncert, diagonal
+  12, 12; % state uncert, full
 ];
 
 blk_perf = [
-  4, 0; % alpha
-  1, 0; % omega
-  3, 3; % position
-  3, 3; % velocity
+  blk_stab;
+  10, 14;
 ];
 
 % Save uncertain model
-- 
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