wcp_pend.m

三级倒立摆的稳定

% Worst case performance perturbation
%
% max_mu is obtained from the robust stability analysis
% of the closed-loop system done by the routine mu_pend.m
max_mu = input ('Enter max_mu = ');
%
omega = logspace(-2,4,100);
clp_ic = starp(pend_ic,K,6,2);
clp_g = frsp(clp_ic,omega);
% Mixed perturbations
blkrs_R = [1 1;1 1;-1 1;-1 1;-1 1;-1 1;-1 1;-1 1];
delta = wcperf(clp_g,blkrs_R,1/max_mu,1);