add all files

B3-control/src/generateCF.m

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+function [H1, H2] = generateCF(W1, W2, args)
+% generateCF -
+%
+% Syntax: [H1, H2] = generateCF(W1, W2, args)
+%
+% Inputs:
+%    - W1 - Weighting Function for H1
+%    - W2 - Weighting Function for H2
+%    - args:
+%      - method  - H-Infinity solver ('lmi' or 'ric')
+%      - display - Display synthesis results ('on' or 'off')
+%
+% Outputs:
+%    - H1 - Generated H1 Filter
+%    - H2 - Generated H2 Filter
+
+%% Argument validation
+arguments
+    W1
+    W2
+    args.method  char {mustBeMember(args.method,{'lmi', 'ric'})} = 'ric'
+    args.display char {mustBeMember(args.display,{'on', 'off'})} = 'on'
+end
+
+%% The generalized plant is defined
+P = [W1 -W1;
+     0   W2;
+     1   0];
+
+%% The standard H-infinity synthesis is performed
+[H2, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', args.method, 'DISPLAY', args.display);
+
+%% H1 is defined as the complementary of H2
+H1 = 1 - H2;

B3-control/src/generateWF.m

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+function [W] = generateWF(args)
+% generateWF -
+%
+% Syntax: [W] = generateWeight(args)
+%
+% Inputs:
+%    - n  - Weight Order (integer)
+%    - G0 - Low frequency Gain
+%    - G1 - High frequency Gain
+%    - Gc - Gain of the weight at frequency w0
+%    - w0 - Frequency at which |W(j w0)| = Gc [rad/s]
+%
+% Outputs:
+%    - W - Generated Weighting Function
+
+%% Argument validation
+arguments
+    args.n    (1,1) double {mustBeInteger, mustBePositive} = 1
+    args.G0   (1,1) double {mustBeNumeric, mustBePositive} = 0.1
+    args.Ginf (1,1) double {mustBeNumeric, mustBePositive} = 10
+    args.Gc   (1,1) double {mustBeNumeric, mustBePositive} = 1
+    args.w0   (1,1) double {mustBeNumeric, mustBePositive} = 1
+end
+
+% Verification of correct relation between G0, Gc and Ginf
+mustBeBetween(args.G0, args.Gc, args.Ginf);
+
+%% Initialize the Laplace variable
+s = zpk('s');
+
+%% Create the weighting function according to formula
+W = (((1/args.w0)*sqrt((1-(args.G0/args.Gc)^(2/args.n))/(1-(args.Gc/args.Ginf)^(2/args.n)))*s + ...
+      (args.G0/args.Gc)^(1/args.n))/...
+     ((1/args.Ginf)^(1/args.n)*(1/args.w0)*sqrt((1-(args.G0/args.Gc)^(2/args.n))/(1-(args.Gc/args.Ginf)^(2/args.n)))*s + ...
+      (1/args.Gc)^(1/args.n)))^args.n;
+
+%% Custom validation function
+function mustBeBetween(a,b,c)
+    if ~((a > b && b > c) || (c > b && b > a))
+        eid = 'createWeight:inputError';
+        msg = 'Gc should be between G0 and Ginf.';
+        throwAsCaller(MException(eid,msg))
+    end

B3-control/src/plotMagUncertainty.m

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+function [p] = plotMagUncertainty(W, freqs, args)
+% plotMagUncertainty -
+%
+% Syntax: [p] = plotMagUncertainty(W, freqs, args)
+%
+% Inputs:
+%    - W     - Multiplicative Uncertainty Weight
+%    - freqs - Frequency Vector [Hz]
+%    - args  - Optional Arguments:
+%      - G
+%      - color_i
+%      - opacity
+%
+% Outputs:
+%    - p - Plot Handle
+
+    arguments
+        W
+        freqs double {mustBeNumeric, mustBeNonnegative}
+        args.G = tf(1)
+        args.color_i (1,1) double {mustBeInteger, mustBeNonnegative} = 0
+        args.opacity (1,1) double {mustBeNumeric, mustBeNonnegative} = 0.3
+        args.DisplayName char = ''
+    end
+
+    % Get defaults colors
+    colors = get(groot, 'defaultAxesColorOrder');
+
+    p = patch([freqs flip(freqs)], ...
+              [abs(squeeze(freqresp(args.G, freqs, 'Hz'))).*(1 + abs(squeeze(freqresp(W, freqs, 'Hz')))); ...
+               flip(abs(squeeze(freqresp(args.G, freqs, 'Hz'))).*max(1 - abs(squeeze(freqresp(W, freqs, 'Hz'))), 1e-6))], 'w', ...
+              'DisplayName', args.DisplayName);
+
+    if args.color_i == 0
+        p.FaceColor = [0; 0; 0];
+    else
+        p.FaceColor = colors(args.color_i, :);
+    end
+    p.EdgeColor = 'none';
+    p.FaceAlpha = args.opacity;
+
+end

B3-control/src/plotPhaseUncertainty.m

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+function [p] = plotPhaseUncertainty(W, freqs, args)
+% plotPhaseUncertainty -
+%
+% Syntax: [p] = plotPhaseUncertainty(W, freqs, args)
+%
+% Inputs:
+%    - W     - Multiplicative Uncertainty Weight
+%    - freqs - Frequency Vector [Hz]
+%    - args  - Optional Arguments:
+%      - G
+%      - color_i
+%      - opacity
+%
+% Outputs:
+%    - p - Plot Handle
+
+    arguments
+        W
+        freqs double {mustBeNumeric, mustBeNonnegative}
+        args.G = tf(1)
+        args.unwrap    logical {mustBeNumericOrLogical} = false
+        args.color_i (1,1) double {mustBeInteger, mustBeNonnegative} = 0
+        args.opacity (1,1) double {mustBeNumeric, mustBePositive} = 0.3
+        args.DisplayName char = ''
+    end
+
+    % Get defaults colors
+    colors = get(groot, 'defaultAxesColorOrder');
+
+    % Compute Phase Uncertainty
+    Dphi = 180/pi*asin(abs(squeeze(freqresp(W, freqs, 'Hz'))));
+    Dphi(abs(squeeze(freqresp(W, freqs, 'Hz'))) > 1) = 360;
+
+    % Compute Plant Phase
+    if args.unwrap
+        G_ang = 180/pi*unwrap(angle(squeeze(freqresp(args.G, freqs, 'Hz'))));
+    else
+        G_ang = 180/pi*angle(squeeze(freqresp(args.G, freqs, 'Hz')));
+    end
+
+    p = patch([freqs flip(freqs)], [G_ang+Dphi; flip(G_ang-Dphi)], 'w', ...
+              'DisplayName', args.DisplayName);
+
+    if args.color_i == 0
+        p.FaceColor = [0; 0; 0];
+    else
+        p.FaceColor = colors(args.color_i, :);
+    end
+    p.EdgeColor = 'none';
+    p.FaceAlpha = args.opacity;
+
+end