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100 CHAPTER 3. FUNCTIONAL DESCRIPTION OF Xµ
Frequency
0.01 0.1 1 100.001 100
Magnitude
0.01
0.1
1
10
0.001
100
Weighting functions
Wperf
Wact
# Form the weighted interconnection structure
sysnames = ["plant";"Wperf";"Wact"]
sysinp = ["ref";"u"]
sysout = ["Wperf"; "Wact"; "ref-plant"]
syscnx = ["u";... # input to plant
"ref-plant";... # input to Wperf
"u"] # input to Wact
p = sysic(sysnames,sysinp,sysout,syscnx,plant,...
Wperf,Wact)
# Design Hinf controller
nctrls = 1
nmeas = 1
gmax = 25
gmin = 0
Kinf = hinfsyn(p,nmeas,nctrls,[gmax;gmin])
Test bounds: 0.0000 < gamma <= 25.0000
gamma Hx
eig X eig Hy eig Y eig nrho xy p/f
25.000 5.2e-01 1.7e-03 1.0e-02 0.0e+00 0.0000 p