tdehaeze/dehaeze20_optim_robus_compl_filte
1
0
Fork 0
Code Issues Pull Requests Releases Activity

Update two figures

Browse Source
This commit is contained in:
Thomas Dehaeze 2019-09-03 09:13:16 +02:00
parent c54b57cc4e
commit d42115b50f
11 changed files with 398 additions and 398 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
matlab/figs/comparison_cps_noise.pdf
View File

Binary file not shown.

BIN
matlab/figs/comparison_cps_noise.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 141 KiB

After

Width:  |  Height:  |  Size: 145 KiB

BIN
matlab/figs/comparison_psd_noise.pdf
View File

Binary file not shown.

BIN
matlab/figs/comparison_psd_noise.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 179 KiB

After

Width:  |  Height:  |  Size: 184 KiB

700
matlab/index.html
View File

File diff suppressed because it is too large Load Diff

56
matlab/index.org
View File

@ -793,7 +793,7 @@ Right Half Plane zero might be introduced in the super sensor dynamics which wil
#+begin_src matlab :exports none #+begin_src matlab :exports none
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1');
@ -817,7 +817,7 @@ Right Half Plane zero might be introduced in the super sensor dynamics which wil
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');
@ -957,7 +957,7 @@ From the weights, we define the uncertain transfer functions of the sensors. Som
#+begin_src matlab :exports none #+begin_src matlab :exports none
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--');
@ -978,7 +978,7 @@ From the weights, we define the uncertain transfer functions of the sensors. Som
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');
@ -1248,7 +1248,7 @@ We can now compute the uncertainty of the super sensor. The result is shown in F
#+begin_src matlab :exports none #+begin_src matlab :exports none
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1');
@ -1272,7 +1272,7 @@ We can now compute the uncertainty of the super sensor. The result is shown in F
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');
@ -1422,7 +1422,7 @@ The complementary filters shown in blue does not present a bump as the red ones
#+begin_src matlab :exports none #+begin_src matlab :exports none
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(H1a, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(H1a, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(H2a, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(H2a, freqs, 'Hz'))));
@ -1433,7 +1433,7 @@ The complementary filters shown in blue does not present a bump as the red ones
ylabel('Magnitude'); ylabel('Magnitude');
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(H1a, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(H1a, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(H2a, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(H2a, freqs, 'Hz'))));
@ -1464,7 +1464,7 @@ We see that the blue complementary filters with a lower maximum norm permits to
#+begin_src matlab :exports none #+begin_src matlab :exports none
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(H1a*G1 + H2a*G2, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(H1a*G1 + H2a*G2, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',2); plot(freqs, abs(squeeze(freqresp(H1b*G1 + H2b*G2, freqs, 'Hz')))); set(gca,'ColorOrderIndex',2); plot(freqs, abs(squeeze(freqresp(H1b*G1 + H2b*G2, freqs, 'Hz'))));
@ -1474,7 +1474,7 @@ We see that the blue complementary filters with a lower maximum norm permits to
ylim([1e-1, 1e1]); ylim([1e-1, 1e1]);
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(H1a*G1 + H2a*G2, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(H1a*G1 + H2a*G2, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',2); plot(freqs, 180/pi*angle(squeeze(freqresp(H1b*G1 + H2b*G2, freqs, 'Hz')))); set(gca,'ColorOrderIndex',2); plot(freqs, 180/pi*angle(squeeze(freqresp(H1b*G1 + H2b*G2, freqs, 'Hz'))));
@ -1640,7 +1640,7 @@ The equivalent Magnitude and Phase uncertainties are shown in Fig. [[fig:mixed_s
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1');
@ -1664,7 +1664,7 @@ The equivalent Magnitude and Phase uncertainties are shown in Fig. [[fig:mixed_s
legend('location', 'southwest'); legend('location', 'southwest');
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');
@ -1882,7 +1882,7 @@ The uncertainty on the super sensor's dynamics is shown in Fig. [[]].
#+begin_src matlab :exports none #+begin_src matlab :exports none
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1');
@ -1906,7 +1906,7 @@ The uncertainty on the super sensor's dynamics is shown in Fig. [[]].
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');
@ -2356,7 +2356,7 @@ The obtained complementary filters with the upper bounds are shown in Fig. [[fig
#+begin_src matlab :exports none #+begin_src matlab :exports none
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1');
@ -2380,7 +2380,7 @@ The obtained complementary filters with the upper bounds are shown in Fig. [[fig
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');
@ -2571,7 +2571,7 @@ Test bounds: 0.8000 < gamma <= 1312.5112
#+begin_src matlab :exports none #+begin_src matlab :exports none
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1');
@ -2595,7 +2595,7 @@ Test bounds: 0.8000 < gamma <= 1312.5112
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');
@ -2675,7 +2675,7 @@ The maximum wanted uncertainty.
#+begin_src matlab :exports none #+begin_src matlab :exports none
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--');
@ -2694,7 +2694,7 @@ The maximum wanted uncertainty.
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');
@ -2847,7 +2847,7 @@ Test bounds: 0.5000 < gamma <= 65.6270
#+begin_src matlab :exports none #+begin_src matlab :exports none
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1');
@ -2871,7 +2871,7 @@ Test bounds: 0.5000 < gamma <= 65.6270
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');
@ -3189,7 +3189,7 @@ Their bode plot is shown figure [[fig:comp_filter_1st_order]].
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(Hh1, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(Hh1, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(Hl1, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(Hl1, freqs, 'Hz'))));
@ -3198,7 +3198,7 @@ Their bode plot is shown figure [[fig:comp_filter_1st_order]].
ylabel('Magnitude'); ylabel('Magnitude');
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(Hh1, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(Hh1, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(Hl1, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(Hl1, freqs, 'Hz'))));
@ -3243,7 +3243,7 @@ The slope of those filters at high and low frequencies is $-2$ and $2$ respectiv
w0 = 2*pi*1; w0 = 2*pi*1;
figure; figure;
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
for i = 1:length(alphas) for i = 1:length(alphas)
alpha = alphas(i); alpha = alphas(i);
@ -3260,7 +3260,7 @@ The slope of those filters at high and low frequencies is $-2$ and $2$ respectiv
hold off; hold off;
ylim([1e-3, 20]); ylim([1e-3, 20]);
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
for i = 1:length(alphas) for i = 1:length(alphas)
alpha = alphas(i); alpha = alphas(i);
@ -3735,7 +3735,7 @@ cite:baerveldt97_low_cost_low_weigh_attit
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(HH1, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(HH1, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(HL1, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(HL1, freqs, 'Hz'))));
@ -3749,7 +3749,7 @@ cite:baerveldt97_low_cost_low_weigh_attit
hold off; hold off;
ylim([1e-2 2]); ylim([1e-2 2]);
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(HH1, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(HH1, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(HL1, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(HL1, freqs, 'Hz'))));

16
matlab/matlab/comp_filter_robustness.m
View File

@ -41,7 +41,7 @@ Dphi2(abs(squeeze(freqresp(w2, freqs, 'Hz'))) > 1) = 190;
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--');
@ -62,7 +62,7 @@ ylim([1e-1, 10]);
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');
@ -248,7 +248,7 @@ Dphiss(abs(squeeze(freqresp(w1*H1, freqs, 'Hz')))+abs(squeeze(freqresp(w2*H2, fr
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1');
@ -272,7 +272,7 @@ ylim([5e-2, 10]);
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');
@ -382,7 +382,7 @@ H2b = (s/w0)^2*((s/w0)+1+alpha)/(((s/w0)+1)*((s/w0)^2 + alpha*(s/w0) + 1));
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(H1a, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(H1a, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(H2a, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(H2a, freqs, 'Hz'))));
@ -393,7 +393,7 @@ set(gca, 'XTickLabel',[]);
ylabel('Magnitude'); ylabel('Magnitude');
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(H1a, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(H1a, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(H2a, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(H2a, freqs, 'Hz'))));
@ -420,7 +420,7 @@ xlim([freqs(1), freqs(end)]);
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(H1a*G1 + H2a*G2, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(H1a*G1 + H2a*G2, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',2); plot(freqs, abs(squeeze(freqresp(H1b*G1 + H2b*G2, freqs, 'Hz')))); set(gca,'ColorOrderIndex',2); plot(freqs, abs(squeeze(freqresp(H1b*G1 + H2b*G2, freqs, 'Hz'))));
@ -430,7 +430,7 @@ ylabel('Magnitude');
ylim([1e-1, 1e1]); ylim([1e-1, 1e1]);
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(H1a*G1 + H2a*G2, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(H1a*G1 + H2a*G2, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',2); plot(freqs, 180/pi*angle(squeeze(freqresp(H1b*G1 + H2b*G2, freqs, 'Hz')))); set(gca,'ColorOrderIndex',2); plot(freqs, 180/pi*angle(squeeze(freqresp(H1b*G1 + H2b*G2, freqs, 'Hz'))));

8
matlab/matlab/comp_filters_analytical.m
View File

@ -25,7 +25,7 @@ freqs = logspace(-2, 2, 1000);
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(Hh1, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(Hh1, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(Hl1, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(Hl1, freqs, 'Hz'))));
@ -34,7 +34,7 @@ set(gca, 'XTickLabel',[]);
ylabel('Magnitude'); ylabel('Magnitude');
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(Hh1, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(Hh1, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(Hl1, freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, 180/pi*angle(squeeze(freqresp(Hl1, freqs, 'Hz'))));
@ -69,7 +69,7 @@ alphas = [0.1, 1, 10];
w0 = 2*pi*1; w0 = 2*pi*1;
figure; figure;
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
for i = 1:length(alphas) for i = 1:length(alphas)
alpha = alphas(i); alpha = alphas(i);
@ -86,7 +86,7 @@ ylabel('Magnitude');
hold off; hold off;
ylim([1e-3, 20]); ylim([1e-3, 20]);
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
for i = 1:length(alphas) for i = 1:length(alphas)
alpha = alphas(i); alpha = alphas(i);

4
matlab/matlab/hinf_syn_perf_robust.m
View File

@ -312,7 +312,7 @@ Dphi2(abs(squeeze(freqresp(w2, freqs, 'Hz'))) > 1) = 190;
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1');
@ -336,7 +336,7 @@ ylim([5e-2, 10]);
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');

8
matlab/matlab/mixed_synthesis_sensor_fusion.m
View File

@ -102,7 +102,7 @@ Dphimax(1./abs(squeeze(freqresp(wphi, freqs, 'Hz'))) > 1) = 190;
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1');
@ -126,7 +126,7 @@ hold off;
legend('location', 'southwest'); legend('location', 'southwest');
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');
@ -304,7 +304,7 @@ Dphi2(abs(squeeze(freqresp(w2, freqs, 'Hz'))) > 1) = 190;
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1');
@ -328,7 +328,7 @@ ylim([5e-2, 10]);
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');

4
matlab/matlab/optimal_comp_filters.m
View File

@ -585,7 +585,7 @@ Dphiss(abs(squeeze(freqresp(w1*H1, freqs, 'Hz')))+abs(squeeze(freqresp(w2*H2, fr
figure; figure;
% Magnitude % Magnitude
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1'); plot(freqs, 1 + abs(squeeze(freqresp(w1, freqs, 'Hz'))), '--', 'DisplayName', 'Bounds - S1');
@ -609,7 +609,7 @@ ylim([5e-2, 10]);
hold off; hold off;
% Phase % Phase
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
hold on; hold on;
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, Dphi1, '--'); plot(freqs, Dphi1, '--');