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CONTENTS vii
4.1.5 µ Analysis of the H
∞
Controller ................... 138
4.1.6 Fitting D-scales for the D-K Iteration................ 140
4.1.7 DesignIteration#2 .......................... 143
4.1.8 Simulation Comparison with a Loopshaping Controller . . . . . . . 146
4.2 A Simple Flexible Structure Example . . . . . . . . . . . . . . . . . . . . 153
4.2.1 TheControlDesignProblem ..................... 153
4.2.2 Creating the Weighted Design Interconnection Structure . . . . . . 155
4.2.3 Design of an H
∞
Controller...................... 162
4.2.4 RobustnessAnalysis.......................... 165
4.2.5 D-K Iteration ............................. 168
4.2.6 ASimulationStudy .......................... 173
5 Bibliography 192
6 Function Reference 201
6.1 Xµ Functions.................................. 201
6.2 Xµ Subroutines and Utilities . . . . . . . . . . . . . . . . . . . . . . . . . 377
Appendices 391
A Translation Between Matlab µ-Tools and Xµ ............... 391
A.1 DataObjects.............................. 392
A.2 Matrix Information, Display and Plotting . . . . . . . . . . . . . . 397