Matlab Robust Control Toolbox [教程]精品管理.pptVIP

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Matlab Robust Control Toolbox [教程]精品管理.ppt

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April 2006 Nathan Sorensen Kedrick Black [K,CL,GAM,INFO]=mixsyn(G,W1,W2,W3) Mixsyn() is H-infinity mixed-sensitivity synthesis method for robust control loopshaping design. Input Parameters: G – LTI system W1,W2,W3 – Weighting matricies associated with S(s), R(s) and T(s) Output Parameters: K – Controller Coefficient vector CL – Closed Loop System Matrix Gam – H – infinity norm for the closed loop system Info – structure containing additional information. Mixsyn() creates the h-infinity controller based on the sensitivity function S(s) and the complimentatry sensitivitiy T(s) function according to the weighting matricies W1, W2, W3.; [K,CL,GAM,INFO]=ncfsyn(G,W1,W2) Ncfsyn() is a normalized coprime factorization based parameterized controller synthisis using the Glover-McFarlane method for loopshaping. Input Parameters: G – LTI plant model W1,W2 – Pre and Post compensator to give Gd = W1GW2 a good high frequency and low frequency response Output Parameters: K – controller coefficient vector CL – closed loop system matrix Gam – H – infinity optimal cost Info – structure containing additional information EX: s=zpk(s); G=(s-1)/(s+1)^2; W1=0.5/s; [K,CL,GAM]=ncfsyn(G,W1); sigma(G*K,r,G*W1,r-.,G*W1*GAM,k-.,G*W1/GAM,k-.) sys = mkfilter(fc,ord,type,psbndr) Mkfilter() returns a single-input, single-output analog low pass filter sys as an ss object. Input: Fc – cutoff frequency of the filter Ord – order of the filter Type – type of the filter. butterw‘- Butterworth filter ‘cheby‘ - Chebyshev filter bessel‘ - Bessel filter rc‘ - Series of resistor/ capacitor filters Psbndr - the magnitude of the passband Output: Sys – Designed filter EX: butw = mkfilter(2,4,butterw); cheb = mkfilter(4,4,cheby,0.5); rc = mkfilter(1,4,rc); bode(butw,-,cheb,--,rc,-.) Mu-synthesis Mu-synthesis functions enable the synthesis of robust optimal controllers. Approximation tools for this type of design are shown below: Cmsclsyn() approximately solves the constant-matrix, upper bound μ-sy