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260 Chapter 6. Function Reference
wghtic = sysic(sysnames,sysinp,sysout,syscnx,plant,...
Wperf,Wact)
# Design Hinf controller
nctrls = 1
nmeas = 1
gmax = 25
gmin = 0
Kinf = hinfsyn(wghtic,nmeas,nctrls,[gmax;gmin])
Test bounds: 0.0000 < gamma <= 25.0000
gamma Hx
eig X eig Hy eig Y eig nrho xy p/f
25.000 5.2e-01 1.7e-03 1.0e-02 0.0e+00 0.0000 p
12.500 5.2e-01 1.7e-03 1.0e-02 0.0e+00 0.0000 p
6.250 5.2e-01 1.7e-03 1.0e-02 0.0e+00 0.0000 p
3.125 5.1e-01 1.7e-03 1.0e-02 0.0e+00 0.0000 p
1.562 5.0e-01 1.7e-03 1.0e-02 0.0e+00 0.0000 p
0.781 3.9e-01 -9.8e+01 1.0e-02 0.0e+00 0.0000 f
1.172 4.8e-01 1.8e-03 1.0e-02 0.0e+00 0.0000 p
Gamma value achieved: 1.1719
rifd(Kinf)
Poles:
real imaginary frequency damping
(rad/sec) ratio
-1.0000e-02 0.0000e+00 1.0000e-02 1.0000
-1.0347e+00 0.0000e+00 1.0347e+00 1.0000
-2.6846e+00 2.3017e+00 3.5362e+00 0.7592
-2.6846e+00 -2.3017e+00 3.5362e+00 0.7592
-1.2692e+01 0.0000e+00 1.2692e+01 1.0000
Zeros: