LPVLOOPSHAPE - Parameter-varying loop-shaping synthesis
Contents
Syntax
[K,GAM,INFO]=lpvloopshape(G,Wi,Wo) [K,GAM,INFO]=lpvloopshape(G,Wi,Wo,Xb,Yb) [K,CL,GAM,INFO]=lpvloopshape(G,...,OPT)
Description
[K,GAM,INFO]=lpvloopshape(G,Wi,Wo) synthesizes the parameter-varying controller K, which minimizes the induced norm for the shaped plant Gs=Wo*G*Wi. GAM is the induced
norm of the closed-loop system from [d1,d2] to |[e1,e2].
^ e1 ^ e2 ____ | ____ ____ ____ | +---->| Ks |-- + ---->| Wi |--| G |-->| Wo |------->+ ----- - | ---- ^ ---- ---- ---- ^ | | | | | | d1 | d2 | | |__________________________________________________________|
INFO is a structure containing data from the Linear Matrix Inequalities that are solved to obtain K. A call to lpvloopshape without a basis function argument generates a controller assuming no bounds on the parameter rate of variation.
[K,GAM,INFO]=lpvloopshape(G,Wi,Wo,Xb,Yb) computes the rate-bounded controller K, where the rate-bounds of the independent variables of the shaped pland Gs are incuded in the synthesis conditions. Xb and Yb are basis objects, which describe the assumed parameter dependence of the lyapunov matrices used in solving for K.
[K,CL,GAM,INFO]=lpvloopshape(G,...,OPT) allows the user to pass in a lpvsynOptions object.