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h2syn 271
Reference
This function uses the state-space formulae given in:
“State-space formulae for all stabilizing controllers that satisfy an H
∞
norm bound and
relations to risk sensitivity,” Keith Glover and John Doyle, Systems & Control Letters
11, pp. 167–172., Oct, 1988.
Example
# Set up a simple closed loop problem.
# This example is also studied in the
# hinfsyn on-line help.
plant = makepoly([0.1,-0.1,1],"s")*makepoly([1,1],"s")...
/(makepoly([1,0.1,.1],"s")*(makepoly([0.2,1],"s")))
# Create weights. These are definitely not the best
# for an H2 design - they are chosen to match with
# the Hinf design example for comparison purposes.
Wperf = 100/makepoly([100,1],"s")
Wact = makepoly([0.5,0.05],"s")/makepoly([0.05,1],"s")
# Form the weighted interconnection structure
sysnames = ["plant";"Wperf";"Wact"]
sysinp = ["ref";"control"]
sysout = ["Wperf"; "Wact"; "ref-plant"]
syscnx = ["control"; ... # input to plant
"ref-plant"; ... # input to Wperf
"control"] # input to Wact
wghtic = sysic(sysnames,sysinp,sysout,syscnx,plant,...
Wperf,Wact)
# Design H2 controller
nctrls = 1
nmeas = 1