directions.txt

Instructions for using the enclosed files:

Please load the data from "manifold_data.mat" into Matlab. The manifold figure can be recreated by running the "plot_manifold.m" script.

The data for the manifold plot was created with varied parameter values (\theta_2 and r_2) using the bode function ( [MAG,PHASE] = bode(SYS,W) ) with the three sample frequencies (W) in order to save time.

The exact values of \theta_2 and r_2 are stored in the 'theta2s' and 'r2s' variables, respectively.

The magnitude plot (Fig. 1 (a) in the TAC Technical Note) was created using the bode function with the varied parameters. 
The bode function for the whole plot took quite a lot of time, for this reason we did not include the code but should be fairly easy to reproduce.
One would just iterate through the parameter values, then for each set of parameters create a system 'SYS' and call bode(SYS), with a hold on the plot.