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% Generate transfer functions for loop shaping stability (uncertainty)
% requirements from parameters specified in uav_params.m
%
% Copyright (C) 2024, Naoki Sean Pross, ETH Zürich
% This work is distributed under a permissive license, see LICENSE.txt
%
% Arguments:
% PARAMS Struct of design parameters and constants generated by uav_params
% PLOT When set to 'true' it plots the inverse magnitude of the
% performance transfer function
%
% Return value:
% UNCERT Struct of uncertainty transfer functions
function [uncert] = uav_performance(params, plot)
W_malpha = tf(1,1);
W_momega = tf(1,1);
W_mState = tf(1,1);
uncert = struct(...
'FlapAngle', W_malpha * eye(4), ...
'Thrust', W_momega, ...
'StateLinApprox', W_mState * eye(12));
end
% vim: ts=2 sw=2 et:
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