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146 CHAPTER 4. DEMONSTRATION EXAMPLES
g3 = starp(himat
ic,k3)
g3g = freq(g3,omega)
[bnds3,D3,D3inv,Delta3,sens3] = mu(g3g,blk)
At this point we could do another iteration (to get k4) or perhaps run some simulations
to check out k3 more thoroughly.
4.1.8 Simulation Comparison with a Loopshaping Controller
A loopshaping design is performed and compared to the H
∞
and µ designs. As the
loopshaping design procedure is relatively standard, only the final controller is given
here (klp).
a =[-5.8928e-02,-6.3295e+00,-1.0440e+00,...
-1.6190e-02, 1.8469e+00, 1.0405e-02;...
-1.0283e+00,-1.5776e+03,-1.1900e+03,...
-9.9924e+00, 1.7895e+01, 3.0329e+00;...
1.0440e+00, 1.0146e+03,-4.2005e+01,...
-1.0953e+00, 2.1755e+02, 9.9809e-01;...
1.3287e-02, 9.6897e+00,-5.9979e-01,...
-2.5448e-02, 1.3634e+01, 4.5286e-02;...
6.4800e+00, 4.0284e+01,-5.9317e+02,...
-1.5215e+01,-2.3726e+04,-8.1459e+01;...
1.3057e-02,-4.0389e+00,-1.2179e+00,...
-1.4332e-02,-5.3180e+01,-2.3590e-01]
b =[1.2425e+00, -6.0707e-02; ...
1.5602e+01, -6.9151e+01; ...
-1.0002e+01, 5.5826e-01; ...
-1.2752e-01, 1.1238e-01; ...
-6.9355e+01, -1.4693e+01; ...
-1.4459e-01 ,-1.2232e-01]
c = [3.5741e-01,7.9890e-01,2.8247e+00,...
8.7133e-02,-7.0893e+01,-1.7902e-01;...
1.1915e+00,7.0885e+01,9.6107e+00,...
1.4594e-01, 3.3669e-01,-6.1799e-02]