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hinfsyn 263
# Use sysic to create unweighted interconnection
ic = sysic("plant",["ref";"ctrl"],["plant";"ref-plant"],...
"ctrl",plant)
clpinf = starp(ic,Kinf)
rifd(clpinf)
Poles:
real imaginary frequency damping
(rad/sec) ratio
-5.0000e-02 3.1225e-01 3.1623e-01 0.1581
-5.0000e-02 -3.1225e-01 3.1623e-01 0.1581
-9.5105e-01 0.0000e+00 9.5105e-01 1.0000
-9.7350e-01 -1.2285e+00 1.5675e+00 0.6211
-9.7350e-01 1.2285e+00 1.5675e+00 0.6211
-5.0000e+00 0.0000e+00 5.0000e+00 1.0000
-5.0901e+00 0.0000e+00 5.0901e+00 1.0000
-1.1812e+01 0.0000e+00 1.1812e+01 1.0000
Zeros:
real imaginary frequency damping
(rad/sec) ratio
-5.0000e-02 3.1225e-01 3.1623e-01 0.1581
-5.0000e-02 -3.1225e-01 3.1623e-01 0.1581
-1.0000e+00 0.0000e+00 1.0000e+00 1.0000
5.0000e-01 3.1225e+00 3.1623e+00 -0.1581
5.0000e-01 -3.1225e+00 3.1623e+00 -0.1581
-5.0000e+00 0.0000e+00 5.0000e+00 1.0000
-2.0000e+01 0.0000e+00 2.0000e+01 1.0000
# Examine sensitivity function
sens = inv(1 + plant*Kinf)
sensg = freq(sens,omega)