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    %% Loop Shaping With ncfsyn
% The following code shows how |ncfsyn| can be used for loop-shaping. 

% Copyright 2015 The MathWorks, Inc.

s = zpk('s');
G = (s-1)/(s+1)^2;
W1 = 0.5/s; 
[K,CL,GAM] = ncfsyn(G,W1);
sigma(G*K,'r',G*W1,'r-.',G*W1*GAM,'k-.',G*W1/GAM,'k-.')
%%
% The
% singular value plot of the achieved loop |G*K| is equal to that of
% the target loop |G*W1| to within plus or minus |GAM| (in dB).