%----------------------------------------------------------------------
%
% Parametros do UV-MRAC para o comando de um sistema de suspensao.
% Modelo de 2 entradas e 2 saidas com grau relativo 2.
%
%                                  Rio de Janeiro, 12 de junho de 2001.
%                                            Jose Paulo V. S. da Cunha
%
%----------------------------------------------------------------------

%
% Plant: G(s) = diag{1/s^2,1/s^2}.Kp
%
%
%Poles:
%
p1=0;
p2=0;
p3=0;
p4=0;

%
% High frequency gain:
%

% Mass (kg):

m=10;

% Distances (l=l1+l2):

L=4;
L2=3;

L1=L-L2;

% Moment of inertia (kg m2):

J=1;

% Gravity acceleration:

g=9.81;

% Plant:

Kp=[L1/J  -L2/J;
    1/m    1/m];

Ap=[ p1 1  0  0;
     0  p2 0  0;
     0  0  p3 1;
     0  0  0  p4];

Bp=[0 0;
    1 0;
    0 0;
    0 1]*Kp;

Cp=[1 0 0 0;
    0 0 1 0];

Dp=zeros(2,2);

x0p=[0.1 0 -0.05 0]';

%
% Reference Model: Wm(s) = diag{((s+1)(s+5))^-1}
%
% Poles:
%
alpha1=-1;
alpha2=-5;
alpha3=-1;
alpha4=-5;

Am=[ alpha1 1      0      0;
     0      alpha2 0      0;
     0      0      alpha3 1;
     0      0      0      alpha4];

Bm=[0 0;
    1 0;
    0 0;
    0 1];

Cm=[1 0 0 0;
    0 0 1 0];

Dm=zeros(2,2);

x0m=[0 0 0 0]';

%
% State filters: Lambda(s)^-1 = diag{(s+5)^-1}
%

ALambda=-5*eye(2);

BLambda=eye(2);

CLambda=eye(2);

DLambda=zeros(2,2);

x0Lambda=[0 0]';

%
% Nominal parameters:
%

thetanom=zeros(2,8);

Kpnom=0.1*eye(2);

Sp=eye(2);

% Nominal weight cancelation:

dnom=[-50 ; -50];

% Disturbance:

d=((Kp^-1)*[0; g])+dnom;

%
% Lead Filters: L(s)=(s+alpha2) ; L1(s)=(s+alpha2)
%
% Pole:
%
l=alpha2;

ALw=l*eye(8);

BLw=eye(8);

CLw=eye(8);

DLw=zeros(8,8);

x0Lw=[0 0 0 0 0 0 0 0]';

ALUn=l*eye(2);

BLUn=eye(2);

CLUn=eye(2);

DLUn=zeros(2,2);

x0LUn=[0 0]';

ALi=l*eye(2);

BLi=eye(2);

CLi=eye(2);

DLi=zeros(2,2);

x0Li=[0 0]';

%
% Prediction error feedback transfer function: Wm(s)L(s)Kpnom
% 

AWmL=alpha1*eye(2);

BWmL=Kpnom;

CWmL=eye(2);

DWmL=zeros(2,2);

x0WmL=[10^-6 10^-6]';

%
% Averaging filters: 1/Fi(s)=1/(tau s+1)
%

tau=0.003;

AF=-(1/tau)*eye(2);

BF=1/tau*eye(2);

CF=eye(2);

DF=zeros(2,2);

x0F=[10^-6 10^-6]';

%
% Auxiliary filters: Li(s)Fi(s)^-1
%

ALFUnfi=-(1/tau)*eye(2);

BLFUnfi=1/tau*eye(2);

CLFUnfi=-l*eye(2);

DLFUnfi=(1/tau)*eye(2);

x0LFUnfi=[0 0]';

ALFwfi=-(1/tau)*eye(8);

BLFwfi=1/tau*eye(8);

CLFwfi=-l*eye(8);

DLFwfi=(1/tau)*eye(8);

x0LFwfi=[0 0 0 0 0 0 0 0]';

%
% Modulation functions parameters:
%

epsilon0=0.1+250;

cw0=1;

cu0=1;

epsiloni=0.1+50;

cwi=0.2;

cui=0.2;

%
% Integration parameters:
%

step_size=0.000001;

final_time=15;

%
% Graphic parameters (step/dot):
%

number_steps=10000;

number_steps_u=10;