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132 CHAPTER 4. DEMONSTRATION EXAMPLES
Frequency
0.01 0.1 1 10 100 10000.001 10000
Magnitude
1
10
0.1
100
Weights for HIMAT
Perturbation weight
Performance weight
The perturbation weight, W
del
, should actually be two-input, two-output. This is also
true of the performance weight, W
p
. In this example, we are weighting each performance
channel identically. There is no requirement to do this and if we were more concerned
with errors in α than errors in θ, then the appropriate channel would have a large weight
applied. The function daug is used to make the 2×2systems.
wdel = daug(wdel,wdel)
comment wdel "perturbation weight"
wp = daug(wp,wp)
comment wp "performance weight"
The design interconnection structure is now created with the sysic function. The result
is a state space system (8 states, 6 inputs and 6 outputs) called himat
ic.
The first two inputs and outputs correspond to the multiplicative perturbation block.
Inputs and outputs 3 and 4 are the disturbance inputs & error outputs. The
measurements going to the controller appear on outputs 5 & 6. The control actuation is
put into the system on inputs 5 & 6.