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4.1. THE HIMAT EXAMPLE 145
1 10 100 10000.1 10000
0.6
0.8
1
1.2
1.4
1.6
0.4
1.8
Robustness analysis for the g2 system
g2: mu upper bound
g2: mu lower bound
g1: mu upper bound
g1: mu lower bound
comment bnds2 "mu bounds: iteration 2"
comment D2 "D scale: iteration 2"
comment D2inv "D inverse scale: iteration 2"
comment Delta2 "worst case perturbation: iteration 2"
comment sens2 "D scale sensitivity: iteration 2"
Here we have only done a single D-K iteration. We are now much closer to the
specifications although we still do not quite meet them. In practice several more
iterations could be run to further improve the µ design. The next iteration would use
the commands:
[D2sys,D2invsys] = musynfit(D2,blk,nmeas,nctrls,sens2,g2g)
himat
ic3 = D2sys*himat ic*D2invsys
k3 = hinfsyn(himat
ic3,,nmeas,nctrls,gamma bounds,tol=0.05)
and to analyze it we would use the commands: