Add complementary filter section

matlab/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;

matlab/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