macglov

Arguments

Sl

a continuous time linear dynamical system

P

a continuous time linear dynamical system, the "augmented" plant

r

1x2 vector, dimension of P22

Description

[P,r]=macglov(Sl) returns the standard plant P for the Glover-McFarlane problem.

For this problem ro_optimal = 1-hankel_norm([N,M]) with [N,M]=lcf(sl) (Normalized coprime factorization) i.e.

gama_optimal = 1/sqrt(ro_optimal)

P is returned in the same representation (transfer function or state-space) than Sl.

Examples

G=syslin("c",1/%s^3);
[P,r]=macglov(G);

//K Optimal controller , ro = gamaopt^-2;
[K,ro]=h_inf(P,r,0,1,30);

Authors

F. Delebecque INRIA

History