pointric.m

线性时变系统控制器设计的工具包

function [vgam,vclp,vctrl] = pointric(vlpv,nmeas,nctrl,gmin,gmax,gtol)

% [vgam,vclp,vctrl] = pointric(vlpv,nmeas,nctrl,gmin,gmax,gtol)

if ~exist('gmin')
 gmin = 0;
end
if ~exist('gmax')
 gmax = 2;
end
if ~exist('gtol')
 gtol = 0.01;
end
[mtyp,dum1,dum2,dum3] = minfo(vlpv);
if mtyp ~= 'vary'
 vlpv = vpck(vlpv,1);
end
viv = getiv(vlpv);
npts = length(viv);
vgam = zeros(npts,1);

for k = 1:npts
 disp(['Point ' int2str(k) ' of ' int2str(npts) ':']);
 [Kric,Gric,gric] = hinfsyn(xtracti(vlpv,k,1),nmeas,nctrl,gmin,gmax,gtol);
 if nargout > 1
  if k == 1
   [mg,ng] = size(Gric);
   vclp = zeros(mg*npts,ng);
  end
  vclp((k-1)*mg+1:k*mg,:) = Gric;
 end
 if nargout > 2
  if k == 1
   [mk,nk] = size(Kric);
   vctrl = zeros(mk*npts,nk);
  end
  vctrl((k-1)*mk+1:k*mk,:) = Kric;
 end
 if ~isempty(gric)
  vgam(k) = gric;
 end
end

if mtyp == 'vary'
 vgam = vpck(vgam,viv);
 if nargout > 1
  vclp = vpck(vclp,viv);
 end
 if nargout > 2
  vctrl = vpck(vctrl,viv);
 end
end