//==========================================//
//---     Solving the 4 bloc problem     ---//
//==========================================//

xdel(winsid());
s = poly(0,'s');

// Definition of the system
G = syslin('c',255/(s*(s/66.9+1)));

// Definition of the weighting functions
// We
We = syslin('c',0.5*(s+150)/(s+0.001));
// Wu
Wu = syslin('c',0.1*(s/300+1)/(s/10000+1)*((s/300)^2+2*(s/300)+1)/((s/300)^2+0.05*(s/300)+1));
// Wb
Wb = syslin('c',0.16*s/s);

// Open the xcos diagram
xcos('4bloc.zcos');

// Extracting the plant for Hinf synthesis
loadXcosLibs(); loadScicos();
importXcosDiagram('4bloc.zcos');
for kk = 1:length(scs_m.objs)
    if typeof(scs_m.objs(kk)) == 'Block'
        if scs_m.objs(kk).graphics.id == 'plant'
            scs_plant = scs_m.objs(kk).model.rpar;
            disp('plant found!');
            break;
        end
    end
end

sys = lincos(scs_plant);