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Appendices
A Translation Between Matlab µ-Tools and Xµ
This appendix outlines the functional equivalences between the Matlab µ-Tools and
Xmath Xµ. The objective is to provide a smooth transition for users moving from
µ-Tools to Xµ. We will assume that the reader is familiar with Matlab µ-Tools and the
general operation of Xmath. The intent is that the overall functional capabilities are the
same under either system and a prospective robust control designer chooses between
Matlab, Xmath, or future matrix languages, on other issues (cost, support, software
compatibility, etc.).
There are enough similarities between µ-Tools and Xµ that one can move from one to the
other without a great deal of additional learning. Most of the differences are syntactic.
There is not always a direct function for function match between the two systems.
The major differences are:
• The built-in data structures available with Xmath.
• The discrete-time system is available as an Xmath data object.
• Slightly different function names.
• The mu and musynfit functions handle the scaling and perturbation matrices in
matrix, rather than coded vector, form.
• The implementation of the D-K iteration is slightly different.
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