7.8.4.m

周克敏 鲁棒控制基础 （essential of robust control ） 部分习题

T4=tf(conv(conv(conv(conv([-0.05,1],[-0.05,1]),conv([-0.05,1],[-0.05,1])),conv(conv([-0.05,1],[-0.05,1]),conv([-0.05,1],[-0.05,1]))),conv([-0.05,1],[-0.05,1])),conv(conv(conv(conv(conv([0.05,1],[0.05,1]),conv([0.05,1],[0.05,1])),conv(conv([0.05,1],[0.05,1]),conv([0.05,1],[0.05,1]))),conv([0.05,1],[0.05,1])),[1,1]));
M4=ss(T4);
[Ab4,Bb4,Cb4,sig4,Tinv4]=balreal(M4.a,M4.b,M4.c);
sig4

N4=[Ab4,Bb4;Cb4,0];
Gb4=pss2sys(N4,11);
Gr4=strunc(Gb4,6)