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3.7. STRUCTURED SINGULAR VALUE (µ) ANALYSIS AND SYNTHESIS 119
Frequency (Hz)
0.1 1 100.01 100
Magnitude
0.1
1
10
0.01
100
D scale fit, block: 1
Magnitude data
Previous fit, order: 2
New fit, order: 4
# Apply the D scales to another H infinity design
Kmu = hinfsyn(Ds*p*Dinvs,nmeas,ncntrls,[0;10])
# Close the loop around the weighted interconnection
# structure.
Gmu = starp(p,Kmu) # weighted closed loop (2nd it.)
omega = logspace(0.01,100,40)
Gmug = freq(Gmu,omega)
blk = [1,1; 2,2]
[rpbnds2,D2,Dinv2,Delta2,sens2] = mu(Gmug,blk)
# compare mu to the value from the previous iteration.
g4 = ctrlplot(rpbnds2(1,1),{log});
g4 = ctrlplot(rpbnds1(1,1),g4,{log,line
style=4});
g4 = plot(g4,{title="mu analysis of robust performance",...
legend=["Kmu";"Kinf"],y
lab="Magnitude",!grid})?