National Instruments 370757C-01 用户手册

Suppose the input/output weights are as follows:

2.

Create the four weights:

Wdist = 1/makepoly([1,1],"s")

Wnoise = 0.1;

Wreg=1/makepoly(1,"s");

Wact = 0.1;

3.

Combine the weights in W

 and W

 (refer to Figure 4-4):

Win = [Wdist,0,0;0,Wnoise,0;0,0,1];

Wout=[Wreg,0,0;0,Wact,0;0,0,1];

The resulting system,

P

can be obtained by putting in series the plant 

G and the two weights:

P = Wout*G*Win;

Before using the 

hinfcontr( )

 function, you must decide on an 

initial guess for 

gamma

.

Figure 4-4.  Plant and Weights for hinfcontr( )

1

0

0

0.1

=

1

s 1

+

-----------

0

0

0.1

=

u

d

y

1

s + 1

W

in

1

W

out

n

u

y

0.1

0.1

u

u

y

1

1

G