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Chapter 4 Controller Synthesis
MATRIXx Xmath Robust Control Module 4-24 ni.com
Then ρ is increased so that pointwise in s:
Regulator recovery is only guaranteed if G(s) is minimum-phase and there
are at least as many control signals u as measurements y.
If
recover="estimator", the loop-transfer is recovered by designing an
estimator with the following model:
where w and v have noise intensities:
Then ρ is increased so that pointwise in s:
Recovery is only guaranteed if G(s) is minimum-phase and there are at least
as many measurements y as there are control signals u.
If
graph is on (default) the singular value loop transfer response is plotted.
The solid line represents the original loop transfer, and the dashed line
represents the loop transfer after recovery.
Ks()Gs() K
R
sI A–()
1–
→ B
x
·
Ax w+=
yCxv+=
WQ
xx
ρBB'+=
VQ
yy
=
Gs()Ks() CsI A–()
1–
→ K
E