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4.1. THE HIMAT EXAMPLE 131
angle-of-attack
pitch angle
System is continuous
4.1.3 Creating a Weighted Interconnection Structure for Design
The multiplicative input perturbation weight, W
del
, is constructed as a transfer function.
The weight is,
W
del
=
50(s + 100)
(s + 10000)
.
The output error weight, W
p
, is created as,
W
p
=
0.5(s +3)
(s+0.03)
.
This will be used as the performance weight. The appropriate commands are:
wdel = makepoly([50,5000])/makepoly([1,10000])
wp = makepoly([0.5,1.5])/makepoly([1,0.03])
These can be displayed on a frequency response plot for comparison purposes.
om1 = logspace(0.001,10000,100) # frequency vector (Hz)
wdelg = freq(wdel,om1)
comment wdelg "frequency response of wdel"
wpg = freq(wp,om1)
comment wpg "frequency response of wp"
gph1 = ctrlplot([wdelg,wpg],{logmagplot});
gph1 = plot(gph1,{title="Weights for HIMAT",!grid,...
legend=["Perturbation weight";"Performance weight"]})?