condmino.m

国外经典书籍MULTIVARIABLE FEEDBACK CONTROL-多变量反馈控制 的源码

function gmin = condmino(Gf)
% Minimize cond.no. with output scaling
%
% Copyright 1996-2003 Sigurd Skogestad & Ian Postlethwaite
% $Id: condmino.m,v 1.1 2004/01/22 08:19:04 vidaral Exp $

[n,m]=size(Gf);
zero = 0*eye(n);
H = [zero inv(Gf); Gf zero];
blk0=[1 1]; blk1=blk0;
for k=2:n
  blk1 = [blk1; blk0];
end
blk2=[n n]; blk=[blk2; blk1];
mu1=mussv(H,blk,'c'); gmin1=mu1(:,1);
gmin=gmin1*gmin1;