vlpvdkit.m

线性时变系统控制器设计的工具包

% In addition to vlpvrun.m, we need the following variables in the workspace:
% blk, nits, w

if ~exist('method')
 method = 'pdlf';
end
if ~exist('gam1')
 vlpvrun
 vclp = vclp1;
 clear vclp1 vctrl1
end
if exist('vclp1')
 vclp = vclp1;
 clear vclp1 vctrl1
elseif method == 'sqlf'
 [vctrl,vclp] = vlpvsyn(vlpv,3,1,gam1,xmat1,ymat1);
else
 [vctrl,vclp] = vlpvsyn(vlpv,3,1,gam1,xmat1,ymat1,[],gparm);
end

if ~exist('w')
 w = logspace(-1,2,46);
end

for k = 2:nits
 K = int2str(k);
 Km1 = int2str(k-1);
 disp(['Iteration #' K]);
 if k > 2
  vdold = vdnew;
 else
  vdold = [];
 end
 [vmu,vdnew] = vlpvmu(vclp,blk,w,vdold,'sc');
 vmu = sel(vmu,':',1);
 disp(['max mu <= ' num2str(max(vunpck(vmu)))]);
 vlpvnew = mdscl(vlpv,vdnew,nmeas,nctrl);
 if method == 'sqlf'
  [gam,xmat,ymat,xyopt] = vlpvsol(vlpvnew,nmeas,nctrl);
  disp(['SQLF gamma = ' num2str(gam)]);
  [vctrl,vclp] = vlpvsyn(vlpvnew,nmeas,nctrl,gam,xmat,ymat);
 else
  [gam,xmat,ymat,xyopt] = vlpvsol(vlpvnew,nmeas,nctrl,vnu,[],gparm,[],gradg);
  disp(['PDLF gamma = ' num2str(gam)]);
  [vctrl,vclp] = vlpvsyn(vlpvnew,nmeas,nctrl,gam,xmat,ymat,[],gparm);
 end
 vhinf = vlpvhinf(vclp);
 disp(['max Hinf = ' num2str(max(vunpck(vhinf)))]);
 eval(['vmu' Km1 ' = vmu;']);
 eval(['vd' Km1 ' = vdnew;']);
 eval(['gam' K ' = gam;']);
 eval(['xmat' K ' = xmat;']);
 eval(['ymat' K ' = ymat;']);
 eval(['xyopt' K ' = xyopt;']);
 eval(['vhinf' K ' = vhinf;']);
end
clear vdold vd vdnew vctrl vclp vmu vlpvnew gam xmat ymat xyopt vhinf
clear vlpvx vctrl1 vclp1 K Km1 k vdeltx vf16x