slight update to example

example.m

@@ -26,15 +26,13 @@ p0 = [0 0 0]'; % Parameters of any PID controller, which stabilizes P.
 
  w = defaultGrid(P); % default angular frequency grid
              
-[K1,p1] = pidIE(P,Ms,Mt,Mks,p0,w) % IE-optial PID controller without filter
+[K1,p1] = pidIE(P,Ms,Mt,Mks,p0,w) % IE-optial PID without filter
 
-% IAE-optimal design
-[K2,p2] = pidIAE(P,Ms,Mt,Mks,p1,w) % Hot-start with K1 parameters
+p0 = p1; % hot start
+[K2,p2] = pidIAE(P,Ms,Mt,Mks,p1,w) % IAE-optimal PID withot filter
 
-% IAE-optimal design with filter
-[K3,p3,w] = pidfIAE(P,Ms,Mt,Mks,p2,w); % Hot-start with K2 parameters
-K3
-p3
+p0 = p2; % hot start
+[K3,p3] = pidfIAE(P,Ms,Mt,Mks,p2,w) % IAE-optimal PID with filter
 
 %% Evaluation
 % Closed-loop transfer functions
@@ -53,7 +51,7 @@ figure(1)
 bode(K1,{wMin,wMax},'b',K2,'r',K3,'g')
 hold on
 title('Controller')
-legend('IE-optimal','IAE-optimal','IAE-optimal w. filter','Location',...
+legend('IE-optimal','IAE-optimal','IAE-optimal with filter','Location',...
     'NorthWest')
 
 % Bode magnitudes (to verify robustness constraints)
@@ -65,7 +63,7 @@ ylim([1e-1 2*Ms])
 set(gca,'ytick',[1 Ms])
 plot([wMin wMax],Ms*[1 1],'k')
 title('Sensitivity magnitude')
-legend('IE-optimal','IAE-optimal','IAE-optimal w. filter','Constraint',...
+legend('IE-optimal','IAE-optimal','IAE-optimal with filter','Constraint',...
     'Location','NorthWest')
 
 subplot(312)
@@ -89,11 +87,5 @@ figure(3)
 step(PS(K1),'b',PS(K2),'r',PS(K3),'g',P,'k')
 hold on
 title('Load step response')
-legend('IE-optimal','IAE-optimal','IAE-optimal w. filter','Open-loop',...
-    'Location','East')
-
-
-
-
-
-
+legend('IE-optimal','IAE-optimal','IAE-optimal with filter','Open-loop',...
+    'Location','East')
\ No newline at end of file