From 353456519a3792dc312361a679d8c3b7d8d4618e Mon Sep 17 00:00:00 2001
From: Enrico Lumetti <enrico.lumetti@gmail.com>
Date: Sun, 29 Aug 2021 18:41:40 +0200
Subject: [PATCH] small tweaks

---
 robust_control/two_mass_system.m | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/robust_control/two_mass_system.m b/robust_control/two_mass_system.m
index e22c1f6..d17aa2f 100644
--- a/robust_control/two_mass_system.m
+++ b/robust_control/two_mass_system.m
@@ -26,7 +26,7 @@ G_fullstate = uss(A, B, eye(4), zeros(4, 2));
 w = logspace(0, 3, 40);
 systems = usample(G, 40);
 data = frd(systems, w)  ;
-[G2, Info] = ucover(data, G.NominalValue, 4, []);
+[~, Info] = ucover(data, G.NominalValue, 4, []);
 Im = tf(Info.W1);
 
 %% Controller Definition
@@ -63,14 +63,14 @@ Ws = (s/Ms + omega_b)/(s+omega_b*eps_s);
 % state weight + integrators weight
 Q = blkdiag(1e3*eye(4), 1e7*eye(2));
 % input weight
-R = 1e-8*eye(2);
-K = -lqi(Gn, Q, R, zeros(6, 2));
+R = 1e-3*eye(2);
+K = lqi(Gn, Q, R, zeros(6, 2));
 K = ss(K);
 K.InputName = {'x(1)', 'x(2)', 'x(3)', 'x(4)', 'e(1)', 'e(2)'};
 K.OutputName = 'u';
 G_fullstate.InputName = 'u';
 G_fullstate.OutputName = 'x';
-G_feedback = connect(G_fullstate, K, 'e', 'x', 'u');
+G_feedback = connect(G_fullstate, -K, 'e', 'x', {'u', 'x'});
 % only select first and second output
 G_feedback = G_feedback([1 2], [1 2]);
 G_feedback.OutputName = 'y';
@@ -156,7 +156,7 @@ title('Multiplicative Uncertainty Magnitude');
 
 %% Simulation
 t = 0:0.001:3;
-r1 = 0*t + 1;
+r1 = 0*t + 0.1; % 10 centimeters displacement
 r2 = 0*t;
 
 % transfer function from reference to controller output