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Continuous time H-infinity (central) controller
[Sk, ro] = h_inf(P, r, romin, romax, nmax) [Sk, rk, ro] = h_inf(P, r, romin, romax, nmax)
a continuous-time linear dynamical system ("augmented" plant given in state-space form or in transfer form)
size of the
P22plant i.e. 2-vector
a priori bounds on
integer, maximum number of iterations in the gama-iteration.
h_inf computes H-infinity optimal controller for the
The partition of
P into four sub-plants is given through
r which is the size of the
22 part of
P is given in state-space
A,B,C,D = constant matrices
H a transfer matrix.
[romin,romax] and the central
Sk in the same representation as
(All calculations are made in state-space, i.e conversion to state-space is done by the function, if necessary).
Invoked with three LHS parameters,
ro and the Parameterization of all stabilizing
a stabilizing controller
K is obtained by
PHI is a linear
system with dimensions
r' and satisfy:
H_norm(PHI) < gamma.
rk (=r) is the
size of the
Sk22 block and
ro = 1/gama^2
Algorithm is adapted from Safonov-Limebeer. Note that
P is assumed to be
a continuous-time plant.
F.Delebecque INRIA (1990)
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