Adds a workng uncertain/LPV quadrotor example

Author: addat10

LPV_Uncertain_system_example/LPV_mass_with_friction_robustness.fig

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+function [G_veh]=define_G_quad_LPV_wrapped(dim,kp,kd,mass)
+% This function defines a closed-loop quadrotor model that has flocking
+% force as input and it preserves the integral action
+
+% Define double integrator to generate references
+if dim~=2
+    error('Currently just works with dimension=2')
+end
+
+inv_mass_1=(1/mass(1));
+A1=[0 1; 0 -kd(1)*inv_mass_1]; 
+B1=[0;1*inv_mass_1*kp(1)];
+
+inv_mass_2=(1/mass(2));
+A2=[0 1; 0 -kd(2)*inv_mass_2]; 
+B2=[0;1*inv_mass_2*kp(2)];
+
+% Higher dimensional vehicles
+A_hat1=kron(A1,eye(dim));
+A_hat2=kron(A2,eye(dim));
+
+B_hat1=kron(B1,eye(dim));
+B_hat2=kron(B2,eye(dim));
+
+C_hat=eye(2*dim);
+D_hat=zeros(2*dim,dim);
+
+
+G_double_int_1=ss(A_hat1,B_hat1,C_hat,D_hat);
+G_double_int_2=ss(A_hat2,B_hat2,C_hat,D_hat);
+
+G_quad_cl=get_quad_G_cl_LPV(mass);
+
+% Compare the wrapped plant with the generic vehicle model
+% sigma(G_double_int)
+% hold on
+% sigma(G,'r')
+
+G_veh.G1=G_quad_cl.G1*G_double_int_1;
+G_veh.G2=G_quad_cl.G2*G_double_int_2;
+end