vlpvcdit.m

线性时变系统控制器设计的工具包

% In addition to the variables needed in the workspace by vlpvrun.m, 
% we need: blk, lastit, w. 
% method & firstit are optional.

if ~exist('method')
 method = 'pdlf';
end
if ~exist('firstit')
 firstit = 2;
end

if ~exist('gam1')
 vlpvrun
 clear vclp1 vctrl1
 firstit = 2;
end

K = int2str(firstit);
Km1 = int2str(firstit-1);
Km2 = int2str(firstit-2);
eval(['gam = gam' Km1 ';']);
eval(['xmat = xmat' Km1 ';']);
eval(['ymat = ymat' Km1 ';']);
if (exist('vd1') & firstit > 2) | (exist('vd0') & firstit == 2)
 eval(['vdold = vd' Km2 ';']);
 eval(['vlpvnew = mdscl(vlpv,vdold,nmeas,nctrl);']);
else
 vlpvnew = vlpv;
 vdold = [];
end

for k = firstit:lastit

 K = int2str(k);
 Km1 = int2str(k-1);
 disp(['Iteration #' K]);

 if strcmp(method,'sqlf')
  [vctrl,vclp] = vlpvsyn(vlpvnew,nmeas,nctrl,gam,xmat,ymat);
 elseif strcmp(method,'pdlfr')
  [vctrl,vclp] = vlpvsynr(vlpvnew,nmeas,nctrl,gam,xmat,ymat,fparm,gparm);
 else
  [vctrl,vclp] = vlpvsyn(vlpvnew,nmeas,nctrl,gam,xmat,ymat,fparm,gparm);
 end
 if k > firstit
  vdold = vdnew;
 end
 [vdnew,vmu,vmupk] = vlpvmucd(vclp,blk,w,vdold); % Use constant D-scale mu
 disp(['max mu <= ' num2str(pkvnorm(vmupk))]);
 vlpvnew = mdscl(vlpv,vdnew,nmeas,nctrl);

 if strcmp(method,'sqlf')
  [gam,xmat,ymat,xyopt] = vlpvsol(vlpvnew,nmeas,nctrl);
  [vctrl,vclp] = vlpvsyn(vlpvnew,nmeas,nctrl,gam,xmat,ymat);
 else
  if strcmp(method,'pdlfs')
   [gam,xmat,ymat,xyopt] = vlpvsols(vlpvnew,nmeas,nctrl,[maxe gest],vnu,fparm,gparm,gradf,gradg);
  elseif strcmp(method,'pdlfr')
   [gam,xmat,ymat,xyopt] = vlpvsolr(vlpvnew,nmeas,nctrl,nsf,vnu,fparm,gparm,gradf,gradg);
  elseif strcmp(method,'pdlfg')
   [gam,xmat,ymat,xyopt] = vlpvsolg(vlpvnew,nmeas,nctrl,gamwt,vnu,fparm,gparm,gradf,gradg);
  else
   [gam,xmat,ymat,xyopt] = vlpvsol(vlpvnew,nmeas,nctrl,vnu,fparm,gparm,gradf,gradg);
  end
  if strcmp(method,'pdlfr')
   [vctrl,vclp] = vlpvsynr(vlpvnew,nmeas,nctrl,gam,xmat,ymat,fparm,gparm);
  else
   [vctrl,vclp] = vlpvsyn(vlpvnew,nmeas,nctrl,gam,xmat,ymat,fparm,gparm);
  end
 end
 disp(['LPV gamma = ' num2str(pkvnorm(gam))]);
 vhinf = vlpvhinf(vclp);
 disp(['max Hinf norm = ' num2str(max(vunpck(vhinf)))]);

 % save data
 eval(['vd' Km1 ' = vdnew;']);
 eval(['vmu' Km1 ' = vmu;']);
 eval(['vmupk' Km1 ' = vmupk;']);
 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 vmupk
clear vlpvx vctrl1 vclp1 K Km1 Km2 k vdeltx vf16x