dmu_rock.m

导弹控制系统的鲁棒控制设计实例

% Mu analysis of the discrete-time rocket stabilization system
% 
% flight time
t = input ('Enter time t = ');
% closed-loop connection for the discrete-time system
sys_rock
dsys_ic = samhld(sys_ic,Ts);
dclp_ic = starp(dsys_ic,KD);
omega = logspace(-3,log10(pi/Ts),100);
dclp_g = frsp(dclp_ic,omega,Ts);
%
% nominal performance
nom_perf = sel(dclp_g,[8:9],[8:10]);
figure(1)
vplot('liv,m',vnorm(nom_perf),'r-'), grid
title('NOMINAL PERFORMANCE')
xlabel('Frequency (rad/s)')
disp(' ')
disp(['nominal performance: ' ...
     num2str(pkvnorm(vnorm(nom_perf)))])
disp(' ')
%
% Real perturbations
blkrsR = [-1 1;-1 1;-1 1;-1 1;-1 1;-1 1;-1 1];
%
% robust stability
rob_stab = sel(dclp_g,[1:7],[1:7]);
pdim = ynum(rob_stab);
fixl = [eye(pdim); 0.01*eye(pdim)]; % 0.01% Complex
fixr = fixl';
blkrs = [blkrsR; abs(blkrsR)];
dclp_mix = mmult(fixl,rob_stab,fixr);
rbnds = mu(dclp_mix,blkrs);
figure(2)
vplot('liv,lm',sel(rbnds,1,1),'r-',sel(rbnds,1,2),'c--'), grid
title('ROBUST STABILITY')
xlabel('Frequency (rad/s)')
ylabel('mu')
%legend('Upper bound','Lower bound',4)
disp(' ')
disp(['mu-robust stability: ' ...
     num2str(pkvnorm(sel(rbnds,1,1)))])
disp(' ')
%
% robust performance
rob_perf = sel(dclp_g,[1:9],[1:10]);
blks = [blkrsR;3 2];
rpbnds = mu(rob_perf,blks);
figure(3)
vplot('liv,m',sel(rpbnds,1,1),'r-',sel(rpbnds,1,2),'c--'), grid
title('ROBUST PERFORMANCE')
xlabel('Frequency (rad/s)')
ylabel('mu')
%legend('Upper bound','Lower bound',3)
disp(' ')
disp(['mu-robust performance: ' ...
     num2str(pkvnorm(sel(rpbnds,1,1)))])
disp(' ')