tdehaeze/phd-control
Archived
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Rework complementary filter control

Browse Source
This commit is contained in:
Thomas Dehaeze
2025-04-07 23:14:56 +02:00
parent 1801d467bd
commit 5deb60043a
72 changed files with 8141 additions and 1543 deletions
Download Patch File Download Diff File Expand all files Collapse all files

74
matlab/src/plotMagUncertainty.m
View File

@@ -1,42 +1,42 @@
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
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
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');
% 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);
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;
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
end

85
matlab/src/plotPhaseUncertainty.m
View File

@@ -1,47 +1,52 @@
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
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.color_i (1,1) double {mustBeInteger, mustBeNonnegative} = 0
args.opacity (1,1) double {mustBeNumeric, mustBePositive} = 0.3
args.DisplayName char = ''
end
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');
% 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 Phase Uncertainty
Dphi = 180/pi*asin(abs(squeeze(freqresp(W, freqs, 'Hz'))));
Dphi(abs(squeeze(freqresp(W, freqs, 'Hz'))) > 1) = 360;
% Compute Plant Phase
G_ang = 180/pi*angle(squeeze(freqresp(args.G, freqs, 'Hz')));
% 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);
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;
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
end