National Instruments 370757C-01 Manual De Usuario

system, including how the uncertain transfer functions are connected to the 
system and the magnitude bound functions l

(w).

To do this, extract the uncertain transfer functions and collect them into a 
k-input, k-output transfer matrix 

Δ, where:

(2-2)

The resulting closed-loop system can be viewed as a feedback connection 
of the nominal closed-loop system with transfer matrix H(j

ω) and the 

uncertain transfer matrix 

Δ(jω). You describe your nominal closed-loop 

system as a linear system with 

input  

and 

output .

The signals r and q are not really inputs and outputs of the nominal system; r and q 

show how the uncertain transfer functions connect to your nominal system. The signals r 
and q each have k components.

You will partition H into the four submatrices,

so that H

 is the nominal transfer matrix from w to z, H

 is the nominal 

transfer matrix from r to z, H

 is the nominal transfer matrix from w to q, 

and H

 is the nominal transfer matrix from r to q.

The magnitude bound functions l

(j

ω) from Equation 2-1 are described 

with the PDM 

delb

:

Thus, a complete description of your system requires the system 

SysH

 

to represent H

 and the response 

delb

 to represent the bounds.

Δ jω

( )

δ

1

ω

( ),...,δ

ω

( )

(

)

=

=

DELB

ω

1

:

ω

1

ω

1

( ) … l

ω

1

( )

:

:

1

ω

(

) … l

ω

(

)

,

=