cleaned up pidIAE

example.m

 % This example demonstrates how to invoke the scripts for obtaining
-%IE-optimal and IAE optimal (with or without LP filter) PID controllers.
+% IE-optimal and IAE optimal (with or without LP filter) PID controllers.
 %
 % Downloaded from git@gitlab.control.lth.se:kristian/PIDopt.git
 % See the git repo for further documentation.

pidIAE.m

-function [K,p,w] =pidIAE(P,Ms,Mt,Mks,p,w)
+function [K,p,w] = pidIAE(P,Ms,Mt,Mks,p,w)
 % Computes PID controller that maximizes the integral gain subject to
 % constraints on the magnitude of the sensitivity, complementary
 % sensitivity and noise sensitivity fu nctions.
@@ -54,7 +54,7 @@ cfg = optimset('algorithm','active-set','GradConstr','on','GradObj','on',...
 p = p*k0;
 K = K(p);
 
-    % Objective and gradient
+% Objective and gradient
     function [J,J_p] = J(p)
         % Objective
         [e,t] = step(P*S(p));
@@ -66,30 +66,47 @@ K = K(p);
         J_p = trapz(t,mdot(sign(e),e_p));
     end
 
-    % Constraints and gradients
+% Constraints and gradients
     function [c,cEq,c_p,cEq_p]=cNL(p)
-        % Ms
-        Sw = fr(S(p));
-        Sm = abs(Sw);
+        % Sensitivity
+        if Ms < inf
+            Sw = fr(S(p));
+            Sm = abs(Sw);
+            cS = Sm-Ms;
+            Sm_p = -mdot(Sm,real(mdot(Sw.*Pw,K_pw)));
+        else
+            cS = [];
+            Sm_p = [];
+        end
         
-        % Mt
-        Tw = 1-Sw;
-        Tm = abs(Tw);
+        % Complementary sensitivity
+        if Mt < inf
+            Tw = 1-Sw;
+            Tm = abs(Tw);
+            cT = Tm-Mt;
+            Tm_p = mdot(Tm,real(mdot(Sw.^2.*Pw./Tw,K_pw)));
+        else
+            cT = [];
+            Tm_p = [];
+        end
         
-        % Mks
-        Kw = fr(K(p));
-        Km = abs(Kw);
-        KSm = Km.*Sm*k0; % Undo regularization
+        % Noise sensitivity
+        if Mks < inf
+            Kw = fr(K(p));
+            Km = abs(Kw);
+            KSm = Km.*Sm*k0; % Undo regularization
+            cKS = KSm-Mks;
+            KSm_p = mdot(Sm./Km,real(mdot(conj(Kw).*Sw,K_pw)));
+        else
+            cKS = [];
+            KSm_p = [];
+        end
         
         % Constraints
-        c = [Sm-Ms,Tm-Mt,KSm-Mks];
+        c = [cS cT cKS];
         cEq = [];
         
         % Gradients
-        SPdotK_pw = fr(P*S(p)*K_p);
-        Sm_p = -mdot(Sm,real(mdot(Sw.*Pw,K_pw)));
-        Tm_p = mdot(Tm,real(mdot(Sw.^2.*Pw./Tw,K_pw)));
-        KSm_p = mdot(Sm./Km,real(mdot(conj(Kw).*Sw,K_pw)));
         c_p = [Sm_p;Tm_p;KSm_p].';
         cEq_p = [];
     end