% Copyright (c) 2024, Naoki Sean Pross, ETH Zürich

%% ------------------------------------------------------------------------
% Clear environment and generate parameters

clear; clc; close all;
params = uav_params();

%% ------------------------------------------------------------------------
% Create nominal plant and controller

% Generate nominal model
model = uav_model(params);
ctrl = uav_ctrl_nominal(params, model);

% Model dimensions
nx = model.linear.Nx;

% Open loop path
L = model.linear.StateSpace * ctrl.K;

% Closed loop path under unitary negative gain
G = feedback(L, eye(nx, nx));

%% ------------------------------------------------------------------------
% Simulate nominal controller

%% ------------------------------------------------------------------------
% Define performance goals

%% ------------------------------------------------------------------------
% Create uncertain model

%% ------------------------------------------------------------------------
% Define stability goals

%% ------------------------------------------------------------------------
% Perform H-infinity design

%% ------------------------------------------------------------------------
% Perform mu-Analysis