%  Example 5.13.  Robust performance analysis using the structured 
%    singular value.
clear
%  Enter the controller gain.
K=50;
%  Enter the nominal closed loop system.
Acl=[-1-K  0
     -150 -10];
Bcl=[-0.2  K
       0  150];
Ccl=[1 0
     0 1];
M=pck(Acl,Bcl,Ccl,zeros(2));
%  Compute the frequency response of the nominal closed loop system.
w=logspace(0,2,30);
fr=frsp(M,w);
%  Compute the SSV from the frequency reponse.
blk=ones(2);
bnds=mu(fr,blk);
%  Plot the results.
set(0,'DefaultAxesFontName','times')
set(0,'DefaultAxesFontSize',16)
set(0,'DefaultTextFontName','times')
figure(1)
clf
vplot('liv,m',bnds)
axis([1 100 0 2.5])
xlabel('Frequency (rad/sec)')
ylabel('SSV')
grid
