National Instruments 370757C-01 用户手册
Chapter 4
Controller Synthesis
4-10
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Suppose the input/output weights are as follows:
2.
Create the four weights:
Wdist = 1/makepoly([1,1],"s")
Wdist (a transfer function) =
1
-----
s + 1
Wnoise = 0.1;
Wreg=1/makepoly(1,"s");
Wact = 0.1;
3.
Combine the weights in W
in
and W
out
(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( )
W
out
1
0
0
0.1
=
W
in
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