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134 CHAPTER 4. DEMONSTRATION EXAMPLES
gamma Hx
eig X eig Hy eig Y eig nrho xy p/f
6.000 2.3e-02 5.6e-05 2.3e-02 0.0e+00 0.0626 p
3.400 2.3e-02 5.7e-05 2.3e-02 0.0e+00 0.2020 p
2.100 2.3e-02 5.9e-05 2.3e-02 0.0e+00 0.5798 p
1.450 2.3e-02 6.4e-05 2.3e-02 0.0e+00 1.4678 f
1.775 2.3e-02 6.1e-05 2.3e-02 0.0e+00 0.8652 p
1.613 2.3e-02 6.2e-05 2.3e-02 0.0e+00 1.1028 f
1.694 2.3e-02 6.1e-05 2.3e-02 0.0e+00 0.9725 p
1.653 2.3e-02 6.2e-05 2.3e-02 0.0e+00 1.0343 f
Gamma value achieved: 1.6938
comment k1 "controller: iteration 1"
comment gf1 "gamma value: iteration 1"
g1 = starp(himat
ic,k1)
comment g1 "closed loop: iteration 1"
An H
∞
control law has been designed which achieves an infinity norm of 1.6938 for the
interconnection structure provided. First, we will examine aspects of the controller that
was just designed, starting with the controller poles.
rifd(k1)
Poles:
real imaginary frequency damping
(rad/sec) ratio
-2.2609e-02 0.0000e+00 2.2609e-02 1.0000
-3.0000e-02 0.0000e+00 3.0000e-02 1.0000
-3.0000e-02 0.0000e+00 3.0000e-02 1.0000
-1.3833e+01 0.0000e+00 1.3833e+01 1.0000
-9.8959e+01 0.0000e+00 9.8959e+01 1.0000
-1.4712e+02 9.6846e+01 1.7613e+02 0.8353
-1.4712e+02 -9.6846e+01 1.7613e+02 0.8353
-7.4256e+03 0.0000e+00 7.4256e+03 1.0000