pocet=200;
i=0;
for w = logspace (-2, 2, pocet)
   i=i+1;
   x=fmincon(sprintf(...
      '-abs(((x(1)^2+x(2)^2)/(-(%f)^2-2*x(1)*(%f*sqrt(-1))+x(1)^2+x(2)^2))-1)',w,w),...
      [-1; 10],[1 0;0 1;0 -1],[-0.2; 12; -8]);
   m=abs(((x(1)^2+x(2)^2)/(-w^2-2*x(1)*(w*sqrt(-1))+x(1)^2+x(2)^2))-1)
   vektor(i, 1)=w;
   vektor(i, 2)=m;
end
loglog(vektor(:,1),vektor(:,2))

%navrh regulatoru pomoci RLTOOL
L=tf([1.142], [1 4.171 6.341 4.341 0]);

T=L/(1+L);
f=logspace (-2, 2, 200);
wt=sigma(T,f);
loglog(f,1 ./vektor(:,2),f,wt)

% (c) Michal Kutil www.tim.cz