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    %% Loop Shaping with mixsyn
% This example shows the use of |mixsyn| for sensitivity and complementary
% sensitivity loop shaping. 
%%

% Copyright 2015 The MathWorks, Inc.

s = zpk('s');
G = (s-1)/(s+1)^2;
W1 = 0.1*(s+100)/(100*s+1); 
W2 = 0.1;
[K,CL,GAM] = mixsyn(G,W1,W2,[]);
L = G*K; 
S = inv(1+L); 
T = 1-S;
sigma(S,'g',T,'r',GAM/W1,'g-.',GAM*G/ss(W2),'r-.')
legend('S','T','GAM/W1','GAM*G/ss(W2)','Location','SouthWest')
%%
% The |mixsyn| command shapes the singular values of |S| and |T| to conform
% to |GAM/W1| and |GAM*G/W2|, respectively.