vlpvmucd.m

线性时变系统控制器设计的工具包

function [vdnew,vbnd,vmupk] = vlpvmucd(vlpv,blk,w,vdold)

% [vdnew,vbnd,vmupk] = vlpvmucd(vlpv,blk,w,vdold)
% [vdnew,vbnd,vmupk] = vlpvmucd(vlpv,blk,w)
% mu upper bound analysis with constant D-scales at each grid point.
% This function calls lmi1cd.m,tinitial.m,blk2strc.m.
% INPUTS: 
% vlpv		varying array of systems
% blk		total perturbation block structure
% w			frequency grid 
% vdold		varying array of old scalings (omit for 1st iteration)
% OUTPUTS: 
% vdnew		varying array of new scalings
% vbnd		varying array of frequency-dependent mu upper bounds: 
% vmupk		peak (vs. w) values of vbnd
% Created: 5/24/96 by Lawton H. Lee
% Last modified: 7/11/96 by Lawton H. Lee
% NOTE: The performance-block scales (the last block) are normalized to
% identity.  If the system is not square, vdnew's identity blocks are
% truncated to fit min{# inputs, # outputs}.  (See also mdscl.m)

if nargin < 3
 disp('[vdnew,vbnd,vmupk] = vlpvmucd(vlpv,blk,w,vdold)');
 return
end

tic

[mtyp,no,ni,ns] = minfo(vlpv);
if mtyp ~= 'vary'
 vlpv = vpck(vlpv,1);
end
[mtyp,no,ni,ns] = minfo(xtracti(vlpv,1,1));
niomin = min([ni no]);
vindx = getiv(vlpv);
if ~exist('vdold')
 vdold = [];
end
if isempty(vdold)
 vdold = eye(min([no ni]));
end
vdnew = [];
vbnd = [];
vmupk = [];

% square down the block structure
for k = 1:size(blk,1)
 [maxdim,maxi] = max(blk(k,:));
 [mindim,mini] = min(blk(k,:));
 if maxdim > mindim & mindim > 0
  blk(k,mini) = blk(k,maxi);
 end
end

for kk = 1:length(vindx)
 disp(['Point ' int2str(kk) ' of ' int2str(length(vindx))]);

 % Add dummy inputs or outputs if the system is not square
 lpvsys = xtracti(vlpv,kk,1);
 if ni < no
  lpvsys = sbs(lpvsys,zeros(no,no-ni));
 elseif no < ni
  lpvsys = abv(lpvsys,zeros(ni-no,ni));
 end
% [Dc,Dw,ubnd,ubnd_pk] = lmi1b(lpvsys,w,blk2strc(blk),[0 0],[0 0 0 0 1]);
 [Dc,ubnd,ubnd_pk] = lmi1cd(lpvsys,w,blk2strc(blk),[0 0 0 0 1]);
 Dc = Dc(1:niomin,1:niomin) / Dc(niomin,niomin);
 vbnd = sbs(vbnd,ubnd);
 vmupk = [vmupk; ubnd_pk];
 dold = xtracti(vdold,kk,1);
 vdnew = [vdnew; mmult(Dc,dold)];
end
vmupk = vpck(vmupk,vindx);
vdnew = vpck(vdnew,vindx);

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