We had a meeting with the code open in ZOOM. Here are some points we discussed:

• The code requires another file ground.m. It is attached here.
   
• The phase of the bode plots were not wrapped. This can be fixed by applying the "PhaseWrapping" options as
  opts=bodeoptions('cstprefs');
opts.PhaseWrapping = 'on';
bode(A,opts)
   
• We evaluated the open-loop transfer function of the system. For this purpose, we added the monitor point ('F') at the actuator and cut the loop there like:
  sys = connect(P, S, W, ADC, Winv, A2, DWinv, Dinv, DAC, DW, D, R, C, {'xg' 'nADC', 'nDAC', 'nd', 'nth'}, 'xt', {'F','VDAC'});
OLTF=getLoopTransfer(sys(1),'F');
figure(2)
clf
bode(OLTF,opts);
   
• We played with the loopgain (Ga2). When Ga2 is a positive number, the loop was stable. We had to shift the low pass cut-off frequency from 10Hz to 12Hz to make the damping of the 2nd peak stable.

function [grnd] = ground(freq)
    grnd = 1e-7*(freq<1)+1e-7*(1-(freq<1))./(freq.^2+1e-50);
end