Robust Performance Analysis of Source-Seeking Dynamics with Integral Quadratic Constraints

General

This repository contains the simulation code to reproduce the tables and figures presented in

A. Datar and H. Werner, "Robust Performance Analysis of Source-Seeking Dynamics with Integral Quadratic Constraints", Americal Control Conference, 2022

The code has the following 5 entry points:

1. Quadrotor robustness analysis (corresponding to Fig.4 from the paper): quadrotor_robustness\main_quadrotor_example.m
2. Gain tuning for quadrotor example (corresponding to Fig.5 from the paper): sweep_kp_kd\main_kd_sweep.m
3. Simulate quadrotor dynamics (corresponding to Fig.6 from the paper): simulate_quadrotor\simulate_dynamics.m
4. Non-minimum phase example robustness analysis (corresponding to Fig.7 from the paper): non_minimum_phase_example\main_non_minimum_phase_example.m
5. LPV examples robustness analysis (corresponding to Fig.8 and Fig.9): LPV_Uncertain_system_example\main_LPV_example.m

These will produce among others the material presented in the paper.

Prerequisites

To run the simulation files, some additional packages need to be installed first.

1. Install CVX

The simulation code in this repository was tested in the following environment:

• Windows 10 Pro Version 20H2
• Matlab 2021a