From 5b84855ceca34d280337ab009f7e7ef676b59c1d Mon Sep 17 00:00:00 2001
From: Nao Pross <np@0hm.ch>
Date: Fri, 31 May 2024 14:25:54 +0200
Subject: Update weights

---
 uav_performance_musyn.m | 40 ++++++++++++++++++++++------------------
 1 file changed, 22 insertions(+), 18 deletions(-)

(limited to 'uav_performance_musyn.m')

diff --git a/uav_performance_musyn.m b/uav_performance_musyn.m
index 5ad5fa5..a521f81 100644
--- a/uav_performance_musyn.m
+++ b/uav_performance_musyn.m
@@ -22,28 +22,30 @@ s = tf('s');
 T_alpha = params.actuators.ServoSecondsTo60Deg;
 T_omega = 0.1;
 
-T_xy = 8;
-T_z = 10;
+T_xy = 6;
+T_z = 9;
 
 % Inverse performance functions
+W_Palpha = tf(.2);
+W_Pomega = tf(.2);
 
-W_Palpha = make_weight(1/T_alpha, 10, 4);
-W_Pomega = make_weight(1/T_omega, 10, 2);
+W_Ralpha = 1 / ((s * T_alpha)^2 + 2 * T_alpha * s + 1);
+W_Romega = 1 / ((s * T_omega)^2 + 2 * T_omega * s + 1);
 
 W_Rxy = 1 / ((s * T_xy)^2 + 2 * T_xy * .8 * s + 1);
-W_Rz = 1 / (s * T_z + 1);
+W_Rz = 1 / ((s * T_z)^2 + 2 * T_z * s + 1);
 
-W_Pxy = tf(5);
+W_Pxy = tf(1);
 W_Pz = tf(1);
 
 W_Pxydot = tf(.01);
 W_Pzdot = tf(.1);
 
-W_Pphitheta = .001 / (s * T_xy + 1);
-W_Ppsi = tf(.1);
+W_Pphitheta = tf(.005);
+W_Ppsi = tf(.2);
 
 % Construct performance vector by combining xy and z
-W_ref = blkdiag(W_Rxy * eye(2), W_Rz);
+W_Rref = blkdiag(W_Rxy * eye(2), W_Rz);
 
 W_PP = blkdiag(W_Pxy * eye(2), W_Pz);
 W_PPdot = blkdiag(W_Pxydot * eye(2), W_Pzdot);
@@ -52,7 +54,9 @@ W_PTheta = blkdiag(W_Pphitheta * eye(2), W_Ppsi);
 perf = struct(...
   'FlapAngle', W_Palpha * eye(4), ...
   'Thrust', W_Pomega, ...
-  'ReferenceFilter', W_ref, ...
+  'ReferenceFilter', W_Rref, ...
+  'FlapAngleFilter', W_Ralpha * eye(4), ...
+  'ThrusterFilter', W_Romega, ...
   'Position', W_PP, ...
   'Velocity', W_PPdot, ...
   'Angles', W_PTheta);
@@ -61,14 +65,14 @@ if do_plots
   % Bode plots of performance requirements
   figure; hold on;
 
-  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);
+  bodemag(W_Palpha);
+  bodemag(W_Pomega);
+  bodemag(W_Pxy);
+  bodemag(W_Pz);
+  bodemag(W_Pxydot);
+  bodemag(W_Pzdot);
+  bodemag(W_Pphitheta);
+  bodemag(W_Ppsi);
 
   grid on;
   legend('$W_{P,\alpha}$', '$W_{P,\omega}$', ...
-- 
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