lpvrun.m

线性时变系统控制器设计的工具包

% extract data for desired grid points
if exist('vWhx')
 vWh = xtract(vWhx,vindx); 
end
if exist('vd0x')
 vd0 = xtract(vd0x,vindx); 
end
vlpv = xtract(vlpvx,vindx);
vf16 = xtract(vf16x,vindx);
vnu = xtract(vnux,vindx);
vparm = xtract(vparmx,vindx);

% start with initial scaling vd0 or just use unscaled plant?
if exist('vd0')
 vlpv1 = mdscl(vlpv,vd0,nmeas,nctrl);
else
 vlpv1 = vlpv;
end

% 'sqlf': single quadratic Lyapunov function synthesis
% 'pdlf': parameter dependent Lyapunov function synthesis
% 'pdlfb': PDLF with "blending" (supply xmat01,ymat01,bparm,gradb)
% 'pdlfg': PDLF with parameter-varying gamma (supply gamwt)
% 'pdlfr': PDLF (reduced-order) via state feedback (supply nsf)
% others: 'pdlfbr', 'pdlfgr'
if ~exist('method')
 method = 'pdlf';
end

% 'slow' controller
if ~exist('opt')
 if exist('maxe') & exist('gest')
  opt = [maxe; gest(1:length(gest))];
 else
  opt = [];
 end
end

% varying gamma weight
if ~exist('gamwt')
 gamwt = [];
end

% Initial guess?
if ~exist('xyinit')
 xyinit = [];
end

% Solve LMIs, form controller & closed-loop system
if strcmp(method,'sqlf')
 [gam1,xmat1,ymat1,xyopt1] = lpvsol(vlpv1,nmeas,nctrl,opt,xyinit);
 if isempty('gam1')
  return
 end
 [vctrl1,vclp1] = vlpvsyn(vlpv1,nmeas,nctrl,gam1,xmat1,ymat1);
else
 [fparm,gparm,gradf,gradg] = calcbasis(vparm,basisfile);
 if strcmp(method,'pdlfb')
  [gam1,xmat1,ymat1,xyopt1] = lpvsolb(vlpv1,nmeas,nctrl,...
	opt,xyinit,vnu,fparm,gparm,gradf,gradg,xmat01,ymat01,bparm,gradb);
 elseif strcmp(method,'pdlfbr')
  [gam1,xmat1,ymat1,xyopt1] = lpvsolbr(vlpv1,nmeas,nctrl,nsf,...
	opt,xyinit,vnu,fparm,gparm,gradf,gradg,xmat01,ymat01,bparm,gradb);
 elseif strcmp(method,'pdlfg')
  [gam1,xmat1,ymat1,xyopt1] = lpvsolg(vlpv1,nmeas,nctrl,gamwt,...
	opt,xyinit,vnu,fparm,gparm,gradf,gradg);
 elseif strcmp(method,'pdlfgr')
  [gam1,xmat1,ymat1,xyopt1] = lpvsolgr(vlpv1,nmeas,nctrl,nsf,gamwt,...
	opt,xyinit,vnu,fparm,gparm,gradf,gradg);
 elseif strcmp(method,'pdlfr')
  [gam1,xmat1,ymat1,xyopt1] = lpvsolr(vlpv1,nmeas,nctrl,nsf,...
	opt,xyinit,vnu,fparm,gparm,gradf,gradg);
 else
  [gam1,xmat1,ymat1,xyopt1] = lpvsol(vlpv1,nmeas,nctrl,...
	opt,xyinit,vnu,fparm,gparm,gradf,gradg);
 end
 if isempty('xyopt1')
  return
 end
 [vctrl1,vclp1] = lpvsyn(vlpv1,nmeas,nctrl,gam1,xmat1,ymat1,fparm,gparm);
end

vhinf1 = vlpvhinf(vclp1);
disp(['LPV gamma = ' num2str(pkvnorm(gam1))]);
disp(['Max H-inf norm = ' num2str(pkvnorm(vhinf1))]);

clear vlpv1 vctrl1 vclp1
clear vWhx vlpvx vparmx vf16x vnux vd0x