macglov

Continuous time dynamical systems Mac Farlane Glover problem

Calling Sequence

[P,r]=macglov(Sl)

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

MAC-FARLANE PROBLEM for G=1/s^3;

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

Versão	Descrição
5.4.0	`Sl` is now checked for continuous time linear dynamical system. This modification has been introduced by this commit

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Last updated:
Thu Oct 02 13:57:39 CEST 2014