7.8.5.m

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

T5=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])),[10,1]));
M5=ss(T5);
[Ab5,Bb5,Cb5,sig5,Tinv5]=balreal(M5.a,M5.b,M5.c);
sig5

N5=[Ab5,Bb5;Cb5,0];
Gb5=pss2sys(N5,11);
Gr5=strunc(Gb5,2)