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dhfsyn
computes an H controller for a discrete-time SYSTEM interconnection matrix
Syntax
[k
,g
,gfin
,ax
,ay
,hamx
,hamy
] =dhfsyn
(p,nmeas
,ncon
,...gmin
,gmax
,tol
,h,z0,quiet
,ricmethd
,epr
,epp
)
Description
dhfsyn
calculates a discrete-time H controller that achieves the infinity norm
gfin
for the interconnection structure p
. The controller, k
, stablizes the discrete-time SYSTEM matrix p
and has the same number of states as p
. The SYSTEM p
is partitioned
ncon
) and C2 has row size (nmeas
).
The closed-loop system is returned in g
. The same bilinear transformation method described for dhfnorm
is used. The controller k
is returned that minimizes the entropy integral,hinfsyne
and the corresponding conditions and tests need to be satisfied.
Input argumentsax
, ay
, hamx
, and hamy
correspond to the equivalent continuous-time problems and can also be scaled and/or balanced.
The dhfsyn
program outputs several variables, which can be checked to ensure that the above conditions are being met. For each Algorithm
dhfsyn
uses the above bilinear transformation to continuous-time and then the formulae described in the Glover and Doyle paper for solution to the optimal H control design problem.
hinfsyne, hinf_st, hinf_gam, hinfe_c:
hinf_gam
calls ric_eig
, ric_schr
, csord
, and cgivens
Reference
Doyle, J.C., K. Glover, P. Khargonekar, and B. Francis, "State-space solutions to standard H2 and H control problems," IEEE Transactions on Automatic Control, vol. 34, no. 8, pp. 831-847, August 1989.
norm
bound and relations to risk sensitivity," Systems and Control Letters, vol. 11, pp. 167-172, 1988.
See Also
hinfsyne
, hinffi
, hinfnorm
, hinfsyn
, h2syn
, h2norm
, ric_eig
, ric_schr
, sdhfnorm
, sdhfsyn
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