CRCBode() - Contoured Robust Controller Bode Plot Function

Generate controller Bode plots with contours showing robust performance and stability metric.

The CRCBode plot shows contours (level sets) of a robust performance quantity on the Bode magnitude and phase plots of the controller. An iterative frequency domain loop-shaping design approach is employed to eliminate all intersections of the controller frequency response with certain "forbidden regions" indicating that a standard SISO robust stability and performance criterion is satisfied. Nonlinearities are accounted for by avoiding the maximum forbidden regions over a structured uncertainty set consisting of linearizations of the system dynamics about several operating points.

For usage, see the file: CRCBode_example.m