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MUSYN
Inc. 2009
VALUE
real
real
real
S0
ric
lmi
maxe
real
DISPLAY
on/off
z
e
y
MEANING
initial upper bound on GAM (Inf default)
initial lower bound on GAM (0 default)
relative error tolerance for GAM (.01 default)
H-infinity solution method:
- (default) standard 2-Riccati solution, DGKF1989
- LMI solution, Packard 1992, Gahinet 1994
- maximum entropy, HINFSYNE, Glover-Doyle 1988
(default=Inf) frequency S0 at which entropy is
evaluated, only applies to METHOD maxe
display synthesis information to screen,
(default = off)
-
w
d
u
z
e
g = Fl (p, k)
hinfsyn calculates a H control law which achieves the infinity norm gfin for the interconnection structure p. The control law, k, stablizes the SYSTEM matrix p and has the
same number of states as p. The SYSTEM p is partitioned
A B1 B2
p = C1 D11 D12
C2 D21 D22
where B1 are the disturbance inputs, B2 are the control inputs, C1 are the errors to be
kept small and C2 are the output measurements provided to the controller. B2 has column
size (ncon) and C2 has row size (nmeas).
The closed-loop system is returned in clp. The program provides a iteration using
the bisection method. Given a high and low value of , GMAX and GMIN, the bisection
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MUSYN
Inc. 2009
where denotes the frequency variable. If condition (ii) is violated, hinfsyn automatically adds a small random matrix of size size(p) to p.d to satisfy this condition.
If the display flag is set, (DISPLAY,on), the hinfsyn program displays several variables
which can be checked to ensure that the above conditions are being satisfied. For each
value being tested, the minimum magnitude, real part of the eigenvalues of the X and Y
Hamiltonian matrices are displayed along with the minimum eigenvalue of X and Y
which are the solutions to the X and Y Riccati equations, respectively. The maximum
eigenvalue of X Y , scaled by 2 , is also displayed. This addition information can aid
you in the control design process.
z1
w1
"
#
"
#
z
w
y1
u1
2
2
, while measuring
and feeding back
.
, and
norm between
e1
d1
y2
u2
e2
d2
You will make up the interconnection structure himatic during the HIMAT exercise by
working through previously. This will construct the HIMAT interconnection structure
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MUSYN
Inc. 2009
"
z1
z2
wdel
6
"
w1
w2
"
?- g
himat
d1
d2
#
"
e1
- wp - e
2
- ?
g
"
u1
u2
"
y1
y2
himatic
w1 , w2
d1 , d2
u1 , u2
Control Design
Design a H (sub)optimal control law for a LTI system, himatic, with two sensor measurements, two error signals, two actuator inputs, and eight states. The range of is
selected to be between 1.0 and 5.0 with a tolerance, tolgam, on the relative closeness of
the final solution of 0.1.
Initially, we will not make use of the iteration portion of the hinfsyn program. An H
suboptimal control law will be designed and analyzed for different levels to help us gain
an understanding of what the H controller is minimizing. Input the initial information
about the system himatic:
ex5data;
aa = [
-3.2100e+01;
0;
0;
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MUSYN
Inc. 2009
1.0000e+00
bb = [
0
0;
-4.1400e-01
0;
-7.7800e+01
2.2400e+01;
0
0];
cc = [
0
5.7300e+01
0
0
himat = ss(aa,bb,cc,0);
wdel = tf([50 5000],[1 10000]);
wp = tf([0.5 1.5],[1 0.03]);
wdel = blkdiag(wdel,wdel);
wp = blkdiag(wp,wp);
0
0
0];
0;
5.7300e+01];
hamx_eig
2.3e-002
xinf_eig
4.4e-008
hamy_eig
2.3e-002
5.0000
yinf_eig
0.0e+000
nrho_xy
0.3422
p/f
p
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MUSYN
Inc. 2009
omega = logspace(-1,4,50);
g5g = frd(g5,omega);
g5gs = fnorm(g5g);
semilogx(g5gs)
Singular value plot of g5 with k5 implemented
4.5
3.5
2.5
1.5
0.5
1
10
10
10
10
10
10
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MUSYN
Inc. 2009
[k,g] = hinfsyn(himatic,nmeas,ncon,DISPLAY,on);
Resetting value of Gamma min based on D_11, D_12, D_21 terms
Test bounds:
gamma
5.386
2.943
4.164
3.554
3.248
3.096
3.019
3.057
3.076
3.067
0.5000 <
hamx_eig
2.3e-002
2.3e-002
2.3e-002
2.3e-002
2.3e-002
2.3e-002
2.3e-002
2.3e-002
2.3e-002
2.3e-002
gamma
xinf_eig
4.4e-008
4.5e-008
4.5e-008
4.5e-008
4.5e-008
4.5e-008
4.5e-008
4.5e-008
4.5e-008
4.5e-008
<=
5.3857
hamy_eig
2.3e-002
2.3e-002
2.3e-002
2.3e-002
2.3e-002
2.3e-002
2.3e-002
2.3e-002
2.3e-002
2.3e-002
yinf_eig
0.0e+000
0.0e+000
0.0e+000
-3.0e-014
0.0e+000
0.0e+000
0.0e+000
0.0e+000
0.0e+000
0.0e+000
nrho_xy
0.2926
1.1073#
0.5063
0.7181
0.8801
0.9835
1.0425#
1.0124#
0.9978
1.0050#
3.075
3.07
3.065
3.06
3.055
3.05
3.045
3.04
3.035
3.03
1
10
10
10
10
10
10
p/f
p
f
p
p
p
p
f
f
p
f
c
MUSYN
Inc. 2009