% This file was created by matlab2tikz v0.3.3.
% Copyright (c) 2008--2013, Nico Schlmer <nico.schloemer@gmail.com>
% All rights reserved.
% 
% 
% 

% defining custom colors
\definecolor{mycolor1}{rgb}{0,0.75,0.75}

\begin{tikzpicture}

\begin{axis}[%
width=6.01828521434821in,
height=4.74667979002625in,
unbounded coords=jump,
scale only axis,
xmin=1,
xmax=2,
xlabel={Robustness, $\Ms$},
ymin=0,
ymax=20,
ylabel={Performance, $J$},
title={Case 4, $\G_{4}(s)=\gFour$},
legend style={draw=black,fill=white,legend cell align=left}
]
\addplot [
color=blue,
solid
]
table[row sep=crcr]{
1.25000000050413 1.88590088454305\\
1.25999999999904 1.81935435495492\\
1.27000000100934 1.75800037673717\\
1.27999999998974 1.70127224597621\\
1.29000000001333 1.64868810780654\\
1.30000000000042 1.59983627013603\\
1.30999999999976 1.55436286944233\\
1.31999999987658 1.51196267707297\\
1.33000000001908 1.47237048629554\\
1.33999999999998 1.43535248034081\\
1.35000000015042 1.40068652765962\\
1.35999999999984 1.36814369261125\\
1.36999999999999 1.33751707597616\\
1.37999999999978 1.30863697363003\\
1.39000000000015 1.28135900946563\\
1.39999999999956 1.25555619523117\\
1.40999999999981 1.23111542034088\\
1.42000000000241 1.20793506193151\\
1.43000000445016 1.18592346896051\\
1.4400000000005 1.16499747438686\\
1.44999999999714 1.14508171471635\\
1.45999999999999 1.12610714589503\\
1.47000000017825 1.10801082477492\\
1.48000000000886 1.09073490681832\\
1.49000000000061 1.07422614365858\\
1.50000000079998 1.05843526544027\\
1.51000000274014 1.04331662342961\\
1.51999999999968 1.02882780048965\\
1.52999999997653 1.01492903304029\\
1.54000000004739 1.00158288744066\\
1.55000000000037 0.988754173189289\\
1.56000000041391 0.976409217368207\\
1.57000000000984 0.964515770745904\\
1.57999999999994 0.953042778770242\\
1.58999999999573 0.941990220276594\\
1.59999999999906 0.931432293928151\\
1.61000000000034 0.921342177728836\\
1.61999999999897 0.911695550787602\\
1.6300000000004 0.902473977049984\\
1.64000000000001 0.893661898156229\\
1.65000000000132 0.885246211426998\\
1.66000000000033 0.87721555459663\\
1.67000000017825 0.869559954652577\\
1.68000000324722 0.862270878083664\\
1.68999999999944 0.855340392448269\\
1.70000000008286 0.848760769934121\\
1.71000000002039 0.842524407567478\\
1.71999999998297 0.836623180494793\\
1.73000000000086 0.831048788306293\\
1.73999999999038 0.825792412671541\\
1.74999999999997 0.82084501467488\\
1.7599999998752 0.816197332709102\\
1.77000000001725 0.811839861977361\\
1.77999999953571 0.807762808598555\\
1.79000000000183 0.803955946487312\\
1.80000000000112 0.800408455172636\\
1.81000000004787 0.797108591082751\\
1.82000000000096 0.794043658735411\\
1.83000000025486 0.791200438259219\\
1.84000000076395 0.788566408950401\\
1.85000000000044 0.786129607734578\\
1.85999999996618 0.783876705006132\\
1.86999999998306 0.781791562929318\\
1.880000000015 0.779854441678635\\
1.89000000000242 0.778040619019079\\
1.90000000000001 0.776318921433729\\
1.91000000114979 0.774650445035506\\
1.92000000000036 0.77298741654196\\
1.92999999999856 0.771273878617402\\
1.93999999999687 0.769447466846125\\
1.95000000001305 0.767464294135532\\
1.95999999999636 0.765857279660419\\
1.96999999999957 0.764650161098785\\
1.9799999999963 0.763571003888785\\
1.99 0.762573033871656\\
2.00000000000241 0.761797616630709\\
};
\addlegendentry{smith:pid};

\addplot [
color=green!50!black,
solid
]
table[row sep=crcr]{
1.24999999999992 4.12633110697221\\
1.26000000006285 3.96787671377586\\
1.27000000003881 3.82144532065401\\
1.28 3.68574213965358\\
1.29000000001016 3.55965023186595\\
1.30000000004433 3.44220336072032\\
1.30999999999997 3.33255916126032\\
1.32000000013834 3.22998112983432\\
1.3299999999999 3.13382255503188\\
1.33999999999991 3.04351189842919\\
1.34999999999993 2.95854482995063\\
1.35999999999997 2.87847246605085\\
1.37000001179312 2.80289481391273\\
1.37999999999965 2.73145397989948\\
1.38999999999996 2.66383115039617\\
1.4 2.60029369933008\\
1.40999999999957 2.54096786475037\\
1.41999999998891 2.48551111665843\\
1.42999999985672 2.43360272698994\\
1.43999999999997 2.38494278389375\\
1.44999999999884 2.33925335983294\\
1.45999999998502 2.29627890874313\\
1.46999999999741 2.25578725788138\\
1.47999999999999 2.2175673370066\\
1.48999999999992 2.1814299897349\\
1.5 2.14720388903625\\
1.5100000000375 2.11473570169645\\
1.51999999999994 2.0838879711087\\
1.52999999985079 2.05453641313251\\
1.53999999999384 2.02656962004028\\
1.54999999999144 1.99988671715469\\
1.55999999999999 1.97439698187039\\
1.57000000021751 1.95001777753479\\
1.57999999999997 1.92667454000135\\
1.58999999999995 1.90429907227858\\
1.60000000004867 1.88282944425007\\
1.60999999994644 1.86220915040183\\
1.61999999999994 1.84238588516978\\
1.63000000006748 1.82331246211807\\
1.63999999999993 1.80494515779167\\
1.65000000004615 1.78724314240181\\
1.66 1.7701697656883\\
1.67000000000674 1.75369036051078\\
1.68000000116956 1.73777325872036\\
1.68999999999999 1.7223887532082\\
1.69999999999644 1.70750949517197\\
1.70999999999997 1.6931096830616\\
1.71999999999974 1.67916583150347\\
1.72999999999986 1.6656555562178\\
1.74000000024894 1.65255796395267\\
1.74999999996417 1.63986725725502\\
1.75999999999789 1.62758294852331\\
1.76999999999609 1.61567986578953\\
1.77999999999993 1.60413878075306\\
1.79 1.59294217817446\\
1.79999999999981 1.58207459892251\\
1.80999999999898 1.57152128451426\\
1.81999999999997 1.56126835464633\\
1.82999999999919 1.55130361952117\\
1.83999999999998 1.54161469794652\\
1.84999999999986 1.53219034098877\\
1.86000000002585 1.52302015730806\\
1.8699999999855 1.51409394464446\\
1.87999999999992 1.50540197833578\\
1.89000000005465 1.49693566835608\\
1.89999999975624 1.48868622100588\\
1.90999999999999 1.48064570843156\\
1.92000000000003 1.47280606920076\\
1.92999999999998 1.46516015932341\\
1.93999999995206 1.45770114996576\\
1.94999999985624 1.45042221467237\\
1.9600000053663 1.44331713585294\\
1.97 1.43637984712122\\
1.97999999989765 1.42960422614468\\
1.98999999999999 1.42298525550728\\
2.0000000002968 1.41651741354339\\
};
\addlegendentry{smith:pi};

\addplot [
color=red,
solid
]
table[row sep=crcr]{
2.05301217771312 0.733304006880216\\
1.99204037710739 0.747921041015233\\
1.93647442580408 0.770853442642194\\
1.88606846119049 0.791935686683864\\
1.8403731430366 0.815072420883684\\
1.79889180067477 0.84196360693861\\
1.76114635441856 0.86882805163086\\
1.72670209843289 0.898469975267207\\
1.69517425256021 0.930762915524617\\
1.66645091010909 0.96748966044775\\
1.64591720057384 0.992098465882233\\
1.62661360326585 1.01640264174608\\
1.60844056236141 1.04066971131084\\
1.5913070075246 1.06480061711948\\
1.57513010711893 1.0888054762462\\
1.5598346629682 1.11324624777461\\
1.54535235908665 1.13758653000361\\
1.53162129133173 1.16192771843283\\
1.51858538793602 1.18628847428331\\
1.50619363672095 1.21069098508655\\
1.49439986401958 1.23515908828989\\
1.48316188438859 1.25963447460731\\
1.4724413719561 1.28393524715991\\
1.46220341898231 1.30814828483344\\
1.45241600766713 1.33243976086553\\
1.44304991065153 1.3566692953614\\
1.43407833013284 1.3809177299822\\
1.42547671540847 1.40519558551319\\
1.4172224501082 1.429411470784\\
1.40929466447927 1.45364784916346\\
1.40167423116358 1.47774468346552\\
1.39434341335614 1.50205964463668\\
1.38728580329862 1.52631827541151\\
1.38048622379594 1.55056048894345\\
1.37393063661343 1.57482342116599\\
1.3676059279832 1.59905775933505\\
1.36149999484882 1.62331170058719\\
1.35560152060366 1.64758032936721\\
1.34989993554982 1.67187276879557\\
1.34438539929088 1.69618224754048\\
1.33904877523294 1.72047994780217\\
1.33388141316514 1.74477314882686\\
1.32887530548933 1.76905003942626\\
1.32402287520437 1.79335479040197\\
1.31931707158579 1.817663198544\\
1.31475122429328 1.84192205744858\\
1.31031911464666 1.86609335151825\\
1.30601483667501 1.89037499157619\\
1.30183285403275 1.91463569014965\\
1.29776797519214 1.93890919716508\\
1.29381524507272 1.96318487205023\\
1.28997001709804 1.98746046373757\\
1.28622789330765 2.01173509019074\\
1.28258474056494 2.03599934614696\\
1.27903659841214 2.06026957261833\\
1.27557974388369 2.08454152088967\\
1.27221063955354 2.10879462245103\\
1.26892594924408 2.13299115993834\\
1.26572246581353 2.1573412651078\\
1.26259719657632 2.18161041702102\\
1.25954724363048 2.20588776523551\\
1.25656988162124 2.23016983098664\\
1.25366251763635 2.2543965286581\\
1.25082264661174 2.27865672851094\\
1.2480479395497 2.30300052739191\\
1.2453361274752 2.32726339910692\\
1.24268506145881 2.35153103909644\\
1.24009268923201 2.37580323612934\\
1.23755706912444 2.40012362567896\\
1.2350763108193 2.42439208372563\\
1.23264863425718 2.44866228737858\\
1.23027231737884 2.47292720138894\\
1.22794573003843 2.49718601565468\\
1.22566730663008 2.52146149409679\\
1.22343554320366 2.54575547602962\\
1.22124899471001 2.57006028991416\\
1.21910627237159 2.594355654867\\
1.21700606643217 2.61859786652287\\
1.21494708812855 2.64292458584263\\
1.21292813804198 2.66724089130739\\
1.21094802517994 2.69152318347085\\
1.20900562651637 2.71580563774511\\
1.2070998599416 2.74008829289791\\
1.20522968254866 2.76437090219574\\
1.20339408899499 2.78865453727012\\
1.20159211817832 2.81293909912813\\
1.19982284620593 2.83722090305627\\
1.19808536004947 2.86150060283761\\
1.19637882188431 2.88579141080843\\
1.19470238089075 2.91008457722914\\
1.19305523837306 2.93436914079858\\
1.19143662925926 2.95864924808404\\
1.18984580591897 2.98292398492219\\
1.18828204445746 3.00720158632739\\
1.18674464991982 3.0314823610429\\
};
\addlegendentry{smith:simc:pid};

\addplot [
color=mycolor1,
solid
]
table[row sep=crcr]{
2.02319811864115 1.52023374830324\\
1.95180163995549 1.54706126737479\\
1.89040923215265 1.57200095138613\\
1.83703509808568 1.60361255774718\\
1.79018757489973 1.63336257467881\\
1.74872495489385 1.6721638600641\\
1.71175749115954 1.70663364799185\\
1.67858215151744 1.74273656636477\\
1.64863594246979 1.78465295932163\\
1.6214624806085 1.82628602804088\\
1.59668777411714 1.86765680411056\\
1.57400279426195 1.91114727635821\\
1.5531495364247 1.95424482090622\\
1.53391112333515 1.99740148519728\\
1.51610383492382 2.04088393791327\\
1.4995708714363 2.08292418989262\\
1.4841778910144 2.1262106326917\\
1.46980869205532 2.1684605328201\\
1.45636261630364 2.21089397311241\\
1.4437518264114 2.2526701220888\\
1.43189942917246 2.29471214762605\\
1.42073765794354 2.33657026193652\\
1.41020675404592 2.37825098200433\\
1.40025363378485 2.41981752039288\\
1.39083114044284 2.46110616029498\\
1.38189705415468 2.50228774825657\\
1.37341364983079 2.54379792357154\\
1.36534698068865 2.58431432869099\\
1.35766642043198 2.62627552866982\\
1.35034437674807 2.66731368603931\\
1.34335576984123 2.70712598910579\\
1.33667785978832 2.74770500230542\\
1.33028994945401 2.78869839652539\\
1.32417314789376 2.82869741223202\\
1.31831017884008 2.86945716403187\\
1.31268520932688 2.91009558384259\\
1.30728371269191 2.95065927672684\\
1.30209232918176 2.9911846505881\\
1.29709876372074 3.03227682682682\\
1.29229163552565 3.0728534604252\\
1.28766044678374 3.11333032876229\\
1.2831954788862 3.15341836756785\\
1.27888771069789 3.19364693667937\\
1.27472876162746 3.23501218769693\\
1.27071087121639 3.27481625423083\\
1.26682676359067 3.31540204547076\\
1.26306968503211 3.35640369879969\\
1.25943332731544 3.39671249584124\\
1.25591178738599 3.43735076842116\\
1.25249954614922 3.47799020375815\\
1.24919144013611 3.51898174499166\\
1.24598261344575 3.55875004972115\\
1.24286851154816 3.60047228752475\\
1.23984485853622 3.64124709291524\\
1.23690762649087 3.68206039337397\\
1.23405303565276 3.72293842118086\\
1.23127750465736 3.76387806383428\\
1.22857767781938 3.80484207767048\\
1.22595036551175 3.84582468102723\\
1.22339256595693 3.886878404861\\
1.22090143697429 3.92801082329272\\
1.21847430728848 3.96937122952299\\
1.21610860910048 4.01075522664415\\
1.21380194657108 4.05214524914945\\
1.21155202966315 4.09347413363188\\
1.2093566840873 4.13489776445975\\
1.20721386148863 4.17654298030524\\
1.20512158901497 4.21814589386531\\
1.20307801542476 4.2597209240231\\
1.20108136335006 4.30145322090117\\
1.19912995226532 4.34322741171348\\
1.19722217744555 4.38499498859719\\
1.19535650568374 4.42684407795103\\
1.19353147794529 4.46887382636097\\
1.19174570866117 4.51091452551493\\
1.18999786646824 4.5531010541459\\
1.18828668113861 4.59546166422181\\
1.18661094184365 4.63773036652131\\
1.18496948774466 4.68012963904195\\
1.1833612214763 4.72221764220154\\
1.18178506786494 4.76456389171237\\
1.18024002788896 4.80699831830152\\
1.17872511905551 4.84950257267121\\
1.17723941244181 4.89202703452122\\
};
\addlegendentry{smith:simc:pi};

\addplot [every node near coord/.style={anchor=north east,color=black},
        nodes near coords={
        \pgfmathparse{\labellistSMITH[\coordindex]}%
        \pgfmathresult
    },
color=red,
only marks,
mark=o,
mark options={solid},
forget plot
]
table[row sep=crcr]{
1.92790300792109 0.77374151826672\\
1.60203036820064 1.04950114611849\\
1.46653413906982 1.2978146964954\\
1.38199094881409 1.54511699537431\\
};
\addplot [every node near coord/.style={anchor=south west,color=black},
        nodes near coords={
        \pgfmathparse{\labellistSMITH[\coordindex]}%
        \pgfmathresult
    },
color=mycolor1,
only marks,
mark=o,
mark options={solid},
forget plot
]
table[row sep=crcr]{
1.92820495064402 1.55411523825644\\
1.56187707668096 1.9352565993262\\
1.4125187397801 2.36853101153341\\
};
\end{axis}
\end{tikzpicture}%