hinf_pend.m

三级倒立摆的稳定

% H_infinity design of the triple inverted pendulum
%
nmeas = 6;
ncon = 2;
gmin = 0;
gmax = 10;
tol = 0.001;
hin_ic = sel(pend_ic,[9:19],[9:19]);
[K_hin,clp,gfin] = hinfsyn(hin_ic,nmeas,ncon,gmin,gmax,tol);
omega = logspace(-2,6,100);
clp_g = frsp(clp,omega);
vplot('liv,lm',vsvd(clp_g))
title('Singular value plot of clp')
xlabel('Frequency (rad/sec)')
K = K_hin;