load nominal.mat; % weighting function for robust stability s = tf('s'); wt1 = 2*pi*20; wt2 = 2*pi*200; wt0 = 0.3; WT = wt0*(s+wt1)/wt1*wt2/(s+wt2); WT_g = frd(WT, w); delta_g = (Pave_g - P0_g)/P0_g; figure(3); clf; bodemag(WT_g, 'r-', delta_g, 'b.'); legend('WT', 'multiplicative uncertainty', 'Location', 'NorthWest'); title(''); axis([1, 2000, -60, 30]); save weight.mat WT; print -depsc weight.eps; print -djpeg -r0 weight.jpg; print -dpng -r0 weight.png;