vlpvmu.m

线性时变系统控制器设计的工具包

function [vbnds,vdnew] = vlpvmu(vlpv,blk,w,vdold,opt)

% [vbnds,vdnew] = vlpvmu(vlpv,blk,w,vdold,opt)
% mu analysis and d-scale computation at each grid point.
% mu-tools functions: mu, musynfit/muftbtch (v.2) or msf/msfbatch (v.3).
% INPUTS: vlpv		varying array of systems
%	  blk		total perturbation block structure
%	  w		frequency grid 
%	  vdold		varying array of old d-scale system matrices (optional)
%	  opt		MU options (default = 'lu')
% OUTPUTS: vbnds	varying array of frequency-dependent mu bounds: 
%			two columns (upper & lower bounds), rows by grid point
%	   vdnew	varying array of new d-scale system matrices
% Created: 12/20/95 by Lawton H. Lee

if nargin == 0
 disp('[vbnds,vdnew] = vlpvmu(vlpv,blk,w,vdold,opt)');
 return
end

vindx = getiv(vlpv);
if ~exist('w')
 w = logspace(-1,2,46);
end
if ~exist('vdold')
 vdold = [];
end
if ~exist('opt')
 opt = 'lu';
end
vdnew = [];
vbnds = [];

for kk = 1:length(vindx)
 lpvsys = xtracti(vlpv,kk,1);
 frspsys = frsp(lpvsys,w);
 [bnds,dvec,sens,pvec] = mu(frspsys,blk,opt);
 vbnds = abv(vbnds,bnds);
 if isempty(vdold)
  dsysold = 'first';
 else
  dsysold = xtracti(vdold,kk,1);
 end
 
 if nargout > 1
  % Fit D-scales in batch mode (check version of mu-tools)
  %if exist('msfbatch')
  % dsysnew = msfbatch(frspsys,bnds,dvec,sens,blk,0);
  % if ~isempty(vdold)
  %  dsysnew = mmult(dsysnew,dsysold);
  % end
  %else
   dim = [.26,.1,0,0];
   nmeas = 0; nctrl = 0;
   dsysnew = muftbtch(dsysold,dvec,sens,blk,nmeas,nctrl,dim);
  % dsysnew = musynfit(dsysold,dvec,sens,blk,nmeas,nctrl);
  %end
  vdnew = [vdnew;dsysnew];
 end
end
vdnew = vpck(vdnew,vindx);