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<title>MvTools Help : Synthesis</title>
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<div class=Section1>
<p align=center style='text-align:center'><img width=371 height=51
id="_x0000_i1025" src="Immagini\logosyn.jpg"></p>
<p align=center style='text-align:center'><a href="HelpDeskmvt.htm"
title="MVTOOLS HELP DESK"><b><i>MvTools Help Desk</i></b></a></p>
<p align=center style='text-align:center'><img border=0 width=536 height=5
id="_x0000_i1026" src="Immagini\riga.gif"></p>
<p style='text-align:justify'>The Synthesis main window represents the starting
point from which the users can begin the design or the search (Optimization) of
a controller for the current model; all the necessary steps for the
synthesis/optimization of a particular regulator are presented by means of a
succession of windows, whose number and appearance change according to the kind
of the selected control law, and the buttons <b>BACK</b>, <b>CLOSE</b> and <b>NEXT</b>
allow the users to move inside them.</p>
<p style='text-align:justify'>The different control laws implemented in MvTools
are divided into the following two groups <a href="biblo.htm#b2"
title=" REFERENCES ">[2]</a>, <a href="biblo.htm#b3" title=" REFERENCES ">[3]</a>,
<a href="biblo.htm#b4" title=" REFERENCES ">[4]</a>:</p>
<p><img border=0 width=13 height=12 id="_x0000_i1027" src="Immagini\Bullet1.gif">
<span style='color:red'>OUTPUT-FEEDBACK<o:p></o:p></span></p>
<ul type=disc>
<li class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
mso-list:l0 level1 lfo3;tab-stops:list .5in'><a href="syn09.htm"
title=" H-INFINITY CONTROL help page ">H-INFINITY</a> * </li>
<li class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
mso-list:l0 level1 lfo3;tab-stops:list .5in'><a href="syn09.htm"
title=" H-2 CONTROL help page ">H-2</a> * </li>
<li class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
mso-list:l0 level1 lfo3;tab-stops:list .5in'><a href="syn10.htm"
title=" H-MIX CONTROL help page ">H-MIX</a> * </li>
<li class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
mso-list:l0 level1 lfo3;tab-stops:list .5in'><a href="syn11.htm"
title=" MU CONTROL help page ">MU</a> * </li>
<li class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
mso-list:l0 level1 lfo3;tab-stops:list .5in'><a href="syn06.htm"
title=" LQG CONTROL help page ">LQG</a> *: Linear Quadratic Gaussian
control </li>
<li class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
mso-list:l0 level1 lfo3;tab-stops:list .5in'><a href="syn07.htm"
title=" LQG-LTR CONTROL help page ">LQG-LTR</a>: Linear Quadratic Gaussian
with Loop Transfer Recovery control </li>
<li class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
mso-list:l0 level1 lfo3;tab-stops:list .5in'><a href="syn08.htm"
title=" PID CONTROL help page ">PID</a>: Proportional-Integral-Derivative
control </li>
<li class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
mso-list:l0 level1 lfo3;tab-stops:list .5in'><a href="syn05.htm"
title=" EIG-ASSIGN CONTROL help page ">EIG-ASSIGN</a>: Eigenstructure
Assignment control <i>(output feedback and constrained output feedback
versions)</i></li>
</ul>
<p style='margin-left:.5in;text-indent:-.25in'><span style='font-size:10.0pt'>(*
Available also in the Optimization section)<o:p></o:p></span></p>
<p style='margin-left:.25in;text-align:justify'>They compute K<span
style='font-size:10.0pt'>of</span><span style='font-size:10.0pt;mso-bidi-font-size:
12.0pt'>(s)</span> (o<span style='font-size:10.0pt'>utput</span> f<span
style='font-size:10.0pt'>eedback</span>) for the standard output-feedback
structure:</p>
<p align=center style='margin-left:.25in;text-align:center;tab-stops:1.0in'><img
border=0 width=447 height=161 id="_x0000_i1028" src="Immagini\outfeed.gif"></p>
<p style='margin-left:.25in;text-align:justify'>For these control laws, it's
possible to augment the plant input or output with some blocks of integrators
in order to improve the low-frequency behavior (response rate, command
following, etc.): in this case, if K'<span style='font-size:10.0pt'>of</span><span
style='font-size:10.0pt;mso-bidi-font-size:12.0pt'>(s)</span> represents the
controller computed for the modified plant, K<span style='font-size:10.0pt'>of</span><span
style='font-size:10.0pt;mso-bidi-font-size:12.0pt'>(s)</span> is obtained
adding conveniently the same blocks to K'<span style='font-size:10.0pt'>of</span><span
style='font-size:10.0pt;mso-bidi-font-size:12.0pt'>(s)</span>.</p>
<p style='page-break-after:avoid'><img border=0 width=13 height=13
id="_x0000_i1029" src="Immagini\Bullet1.gif"> Pseudo <span
style='color:red'>STATE-FEEDBACK<o:p></o:p></span></p>
<ul type=disc>
<li class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
page-break-after:avoid;mso-list:l1 level1 lfo6;tab-stops:list .5in'><a
href="syn02.htm" title=" LQR CONTROL help page ">LQR</a>: Linear Quadratic
Regulator </li>
<li class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
page-break-after:avoid;mso-list:l1 level1 lfo6;tab-stops:list .5in'><a
href="syn03.htm" title=" IMFC CONTROL help page ">IMFC</a>: Implicit Model
Following Control </li>
<li class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
page-break-after:avoid;mso-list:l1 level1 lfo6;tab-stops:list .5in'><a
href="syn04.htm" title=" EMFC CONTROL help page ">EMFC</a>: Explicit Model
Following Control </li>
<li class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
page-break-after:avoid;mso-list:l1 level1 lfo6;tab-stops:list .5in'><a
href="syn05.htm" title=" EIG-ASSIGN CONTROL help page ">EIG-ASSIGN</a>: Eigenstructure
Assignment control <i><span style='color:windowtext'>(state feedback
version)</span></i></li>
<li class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
page-break-after:avoid;mso-list:l1 level1 lfo6;tab-stops:list .5in'><a
href="syn12.htm" title=" LQ-SERVO Synthesis help page ">LQ-SERVO</a></li>
</ul>
<p style='margin-left:.25in;text-align:justify'><a name=pseudo></a>These
control laws achieve normally the feedback of all the states on the inputs
through the matrix K<span style='font-size:10.0pt'>sf </span>(s<span
style='font-size:10.0pt'>tate</span> f<span style='font-size:10.0pt'>eedback</span>),
as indicated in the following figure</p>
<p align=center style='margin-left:.25in;text-align:center;tab-stops:center 63.0pt'><img
border=0 width=447 height=149 id="_x0000_i1046" src="Immagini\stafeed.gif"></p>
<p style='margin-left:.25in;text-align:justify'>After the computation of K<span
style='font-size:10.0pt'>sf</span>, the final controller K<span
style='font-size:10.0pt'>of</span> is obtained converting the control into an
output feedback control according to the law </p>
<p align=center style='margin-left:.25in;text-align:center'><span
style='color:red'>K</span><span style='font-size:10.0pt;color:red'>of</span><span
style='color:red'> = K</span><span style='font-size:10.0pt;color:red'>sf</span><span
style='color:red'> (<b> </b>C-D K</span><span style='font-size:10.0pt;
color:red'>sf </span><span style='color:red'>)<sup>+<o:p></o:p></sup></span></p>
<p align=center style='text-align:center;text-indent:.25in;tab-stops:decimal 0in'><img
border=0 width=452 height=148 id="_x0000_i1041" src="Immagini\stafeed1.gif"></p>
<p style='margin-left:.25in;text-align:justify'>In this manner it's possible to
obtain either a "pure" state feedback behavior (if C=I and D=0) or an
output feedback control without observer (if C<span style='font-family:Symbol'>⌨️ 快捷键说明
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