
% Written by Iosif Pappas in Spring 2016, to create Performance vs Robustness graphs
p1=plot(num(31:1:101,1),num(31:1:101,2),'Color',[0.5 0 0.5])
hold on
p2=plot(num(31:1:101,1),num(31:1:101,3),'Color',[0 0.5 0.5])
hold on
p3=plot(num(31:1:101,1),num(31:1:101,4),'b')
hold on
p4=plot(num(44,1),num(44,3),'x','Color', [0 0.5 0.5])
hold on
p5=plot(num(69,1),num(69,4),'xb')
hold on

%Labels
ylabel('\textbf{Performance, J(c)}', 'Interpreter','LaTex')
xlabel('\textbf{Robustness,  $\bf{M_S}$}','Interpreter','LaTex')
%Axis limits
ylim([0.5 5])
xlim([1.3 2])
%Font
set(gca,'FontSize',10,'Fontweight','Bold');
legend('Optimal', 'SIMC', 'K-SIMC')
set(p1,'LineWidth',1.5)
set(p2,'LineWidth',1.5)
set(p3,'LineWidth',1.5)
set(p4,'LineWidth',1.5)
set(p5,'LineWidth',1.5)
legend([p4,p5],'\tau_c  =  \theta','\lambda  =  \theta', 'Location','SouthWest')
legend([p4,p5],'\tau_c  =  \theta','\lambda  =  \theta','Location',[0.68 0.4 0.15 0.05])

%Latex annotations
str = '$$G\left ( s \right ) = \frac{e^{-s}}{\left ( 10s+1 \right )} $$';
text(1.7,4.1,str,'Interpreter','LaTex')
gtext('Pareto Optimal','Color', [0.5 0 0.5])
gtext('SIMC','Color', [0 0.5 0.5])
gtext('K-SIMC','Color', 'b')

