wts_pend.m

三级倒立摆的稳定

% Weighting functions for H_inf and mu-synthesis
%
% performance weights for Hinf design
%nuWp1 = [1   12    80    80  65];   
%dnWp1 = [1 1500 13000 12000  0.005];
%gainWp1 = 0.000001;
%wp1 = nd2sys(nuWp1,dnWp1,gainWp1);
%nuWp2 = [1   12    80    80  65];   
%dnWp2 = [1 1500 13000 12000  0.005];
%gainWp2 = 1;
%wp2 = nd2sys(nuWp2,dnWp2,gainWp2);
%nuWp3 = [1   12    80    80  65]; 
%dnWp3 = [1 1500 13000 12000  0.005];  
%gainWp3 = 1; 
%wp3 = nd2sys(nuWp3,dnWp3,gainWp3);
%Wp = daug(wp1,wp2,wp3);
%
% performance weights for mu-synthesis
nuWp1 = [ 1   12    80    80  65];   
dnWp1 = [15 1500 13000 12000  0.005];
gainWp1 = 0.000001;
wp1 = nd2sys(nuWp1,dnWp1,gainWp1);
nuWp2 = [ 1   12    80    80  65];   
dnWp2 = [15 1500 13000 12000  0.005];
gainWp2 = 2.5;
wp2 = nd2sys(nuWp2,dnWp2,gainWp2);
nuWp3 = [ 1   12    80    80  65]; 
dnWp3 = [15 1500 13000 12000  0.005];
gainWp3 = 10;
wp3 = nd2sys(nuWp3,dnWp3,gainWp3);
Wp = daug(wp1,wp2,wp3);
%
% control weights
nuWu = 1;
dnWu = 1;
gainWu = 10^(-6);
wu = nd2sys(nuWu,dnWu,gainWu);
Wu = daug(wu,wu);