%% Simulation main file %
% The simulation parameters 'rho' and 'observer' must be already defined in the workspace
%
% Manfredi Maggiore, 7/8/99

%function []=simul()
% Parameters initialization

l1=6;l2=12;l3=8; 
A=[0 1 0 ;0 0 1;0 0 0];
C=[1 0 0];
S=sqrtm(lyap(A-[l1 l2 l3]'*C,eye(3)));
E1=diag(rho.^(-2:1:0));
SE1=S*E1;
invSE1=inv(SE1);
constants; % defines all the necessary constants related to the sf controller.
%%%%%%%%%%%%%%%%%%%%%%%%%%
%observer=1;  % this flag determines whether the observer is used or not 
X0=[.05 -.05 -.1 0 0 0 0 0];
%disp(['Initial condition: ',num2str(X0(1:3))]);
%%%%%%%%%%%%%%%%%%%%%%%%%%
options=odeset('AbsTol',1e-6,'RelTol',1e-6);  
[t,x]=ode15s('fun',[0 10],X0(1:5+observer*3),options,rho,invSE1,l1,l2,l3,observer);
disp 'Simulation done ....'