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Chapter 4 Controller Synthesis
© National Instruments Corporation 4-19 MATRIXx Xmath Robust Control Module
0 0 0 1
0 0 0 0
B
0
0
0
1
C
0 0 1 0
D
0
X0
0
0
0
0
System is continuous
7. Frequency-weight the control signal.
Transfer the weight on
U from RUU to the third diagonal entry in RXXA.
Note In Equation 4-3, u is the third state of the augmented system. RUU weighs the new
frequency-shaped control signal v.
Design a frequency-shaped regulator:
rxxa=diagonal([0,1,1,0]);ruua=1;
[Sysfs_sr,,fs_evr]=fsregu(Sysa,2,rxxa,ruua)
Sysfs_sr (a state space system) =
A
0 1
-1.95171 -1.97571
B
0 0
0.951712 -0.228069
C
1 0
D
0 0
X0
0
0