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3.7. STRUCTURED SINGULAR VALUE (µ) ANALYSIS AND SYNTHESIS 117
nms = ["plant";"Wm";"Wperf";"Wact";"Wnoise";"Wref"]
inp = ["delt";"ref";"noise";"u"]
outp = ["100*Wm"; "Wperf"; "Wact"; "Wref-0.01*delt-plant-Wnoise"]
cnx = ["u"; "plant"; "Wref-0.01*delt-plant"; "u"; "noise"; "ref"]
p = sysic(nms,inp,outp,cnx,plant,Wm,Wperf,Wact,Wnoise,Wref)
The interconnection structure, p, is illustrated in Figure 3.11.
Figure 3.11: Weighted interconnection structure, p
# Perform an H
infinity design.
nmeas = 1 # number of measurements
ncntrls = 1 # number of controls
gmin = 0
gmax = 100
Kinf = hinfsyn(p,nmeas,ncntrls,[gmin;gmax])
G = starp(p,Kinf) # weighted closed loop system
Gg = freq(G,omega)
G11g = Gg(1,1)
G22g = Gg(2:3,2:3)
rs = max(svd(G11g)) # robust stability
np = max(svd(G22g)) # nominal performance