Kp = 1./abs(evalfr(Gpqr(1,1),30i));
Kq = -1./abs(evalfr(Gpqr(2,2),22.5i));
Kr = -1./abs(evalfr(Gpqr(3,3),37.5i));bode(Gpqr(1,1)*Kp,Gpqr(2,2)*Kq,Gpqr(3,3)*Kr,{1e-1,1e3}), grid
legend('da to p','de to q','dr to r')Use feedback to close the three inner loops. Insert an analysis point at the plant inputs
da,de,dr for later evaluation of the stability margins.Cpqr = append(ss(Kp),ss(Kq),ss(Kr));
APu = AnalysisPoint('u',3); APu.Location = {'da','de','dr'};Gpos = feedback(G * APu * Cpqr, eye(3), 1:3, 1:3);11 Gain-Scheduled Controllers